Energy support systems for agricultural machinery

Abstract

To smoothly deliver a package body required for agricultural work by an agricultural machine according to the agricultural work in the field.SOLUTION: An energy support system for an agricultural machine for supporting an agricultural machine which has a removable energy-filled package body, and which is driven by the energy in the package body includes a management device for obtaining either an agricultural work plan to be carried out in a field by the agricultural machine or a request from the agricultural machine, and for instructing either a transport vehicle, a terminal of a driver who operates the transport vehicle, or a terminal of a delivery center which delivers the package body to deliver the package body toward the field, according to the delivery plan or request based on the work plan.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an energy support system for, for example, agricultural machinery. [Background technology]

[0002] A known example of a battery-equipped agricultural machine is the agricultural machine disclosed in Patent Document 1. The agricultural machine disclosed in Patent Document 1 can travel using an electric motor driven by battery power. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Publication No. 2022-60664 Summary of the Invention

[0004] Agricultural machines such as those shown in Patent Document 1 have attracted attention as environmentally friendly agricultural machines because they do not emit exhaust gases, compared to agricultural machines powered by diesel engines. However, the agricultural machine of Patent Document 1 has a problem in that it is difficult to run for long periods of time because it relies on batteries for its running energy. In particular, when using the agricultural machine to perform agricultural work, it has been difficult to drive the agricultural machine sufficiently to perform the work.

[0005] Therefore, an object of the present invention is to provide an energy support system for agricultural machinery that allows the agricultural machinery to smoothly deliver packages required for agricultural work in accordance with the agricultural work being performed in the field. [Means for solving the problem]

[0006] The technical means of the present invention for solving this technical problem is characterized by the following points: An energy support system for agricultural machinery is an energy support system for agricultural machinery that is detachable and powered by the energy stored in the package, and includes a management device that acquires either a work plan for farm work to be performed in a field by the agricultural machine or a request from the agricultural machine, and issues a command to a transport vehicle, a terminal of a driver driving the transport vehicle, or a terminal at a distribution center that delivers the package to the field in accordance with a delivery plan set based on the work plan or the request.

[0007] The management device acquires either a work plan for the agricultural work that the agricultural machine will perform in the field or a request from the agricultural machine, and issues a command to collect the package body to either a transport vehicle, a terminal of the driver driving the transport vehicle, or a terminal at a distribution center that delivers the package body, in accordance with a collection plan set based on the work plan or the request.

[0008] The agricultural machine is provided with an operation switch for at least either requesting delivery of the package body or requesting collection of the package body.

[0009] The agricultural machine is equipped with a communication device that, when the energy of the package body attached to the agricultural machine falls below a threshold value, requests at least one of delivery of the package body and collection of the package body.

[0010] When the transport vehicle receives a command to deliver the package body, it moves automatically toward the field.

[0011] When the transport vehicle receives a command to collect the package body, it moves automatically toward the field.

[0012] The management device calculates the deterioration of a plurality of package bodies stored at the delivery source from the delivery history of the package bodies, and selects a package body to be delivered from among the plurality of package bodies based on the calculated deterioration of the package body.

[0013] The management device determines a shipping fee based on the size of the package to be shipped. [Effects of the Invention]

[0014] According to the present invention, agricultural machines can smoothly deliver packages required for agricultural work in accordance with the agricultural work being performed in the field. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is an overall view showing an energy support system for an agricultural machine according to a first embodiment. [Figure 2] FIG. 2 is a functional block diagram of electronic devices of the agricultural machine. [Figure 3] FIG. 2 is a perspective view of a lifting device provided in the agricultural machine. [Figure 4] 1A and 1B are perspective views of a battery mounting section provided in an agricultural machine and diagrams for explaining an operation when replacing a battery. [Figure 5] FIG. 10 is a diagram illustrating an example of a screen displayed on an external terminal. [Figure 6A] FIG. 10 is a diagram showing how the contour H10 of the field (field map MP2) is determined from the travel trajectory K1. [Figure 6B] FIG. 10 is a diagram showing how the contour H10 of the field (field map MP2) is determined from the inflection points of the travel trajectory K1. [Figure 6C] This is a diagram showing how the contour H10 (field map MP2) is determined from switch operations while driving. [Figure 7A] FIG. 10 is a diagram showing an example of a screen M11. [Figure 7B] FIG. 10 is a diagram showing an example of a screen M12. [Figure 8A] This is a diagram showing a unit task section A3 created in a task area A2. [Figure 8B]FIG. 8B is a diagram showing a unit task section A3 different from that shown in FIG. 8A. [Figure 8C] FIG. 2 is an explanatory diagram for explaining the creation of a planned driving route L1. [Figure 9] FIG. 10 is a diagram showing an example of a screen M1. [Figure 10] 10A and 10B are diagrams showing the tractor moving from a barn to a field and returning from the field to the barn. [Figure 11A] FIG. 10 is a diagram showing how the first package body is delivered to the field H1. [Figure 11B] FIG. 10 is a diagram showing how the second package body 6B is collected. [Figure 12] FIG. 10 is a diagram illustrating an example of a work plan. [Figure 13] FIG. 1 is a diagram showing the relationship between agricultural work and energy consumption per unit area. [Figure 14] FIG. 10 is a diagram showing the model number of a package body for each machine and energy information. [Figure 15A] FIG. 10 is a diagram showing the operation from the work plan to the calculation of the number of packages. [Figure 15B] FIG. 10 is a diagram showing the operation of delivering a first package body in a delivery plan. [Figure 16] FIG. 10 is a diagram illustrating an example of a delivery plan. [Figure 17] FIG. 10 is a diagram showing the operation of collecting the second package body in the collection plan. [Figure 18] FIG. 10 is a diagram illustrating an example of a collection plan. [Figure 19] FIG. 10 is a diagram showing an example of a delivery history. [Figure 20] FIG. 10 is a diagram showing the relationship between the remaining amount of energy, the amount of charge, the number of charge times, and a coefficient. [Figure 21] FIG. 10 is a diagram showing an example of the deterioration level of a package body. [Figure 22] FIG. 10 is a diagram showing the relationship between package model numbers and shipping fees. [Figure 23] FIG. 10 is a diagram showing an example of a screen M15. [Figure 24] FIG. 10 is a diagram showing an example of a screen when setting a relay location. [Figure 25] FIG. 10 is a diagram showing the relationship between the edges that indicate the contours of a farm field and relay locations. [Figure 26A] This is a screen displaying a message that the first package body will be placed at a relay point during delivery. [Figure 26B] FIG. 10 is a diagram showing a message indicating that the second package body placed at the relay point during collection is to be collected. [Figure 27A] This is a diagram showing a field map on the screen M31 of an agricultural terminal. [Figure 27B] This is a diagram showing a farm field map including a supply location PH on the screen M31 of the agricultural terminal. [Figure 28A] This is a diagram showing a farm field map on which relay points and supply locations PH are set, with a message about package delivery added. [Figure 28B] This is a diagram showing a farm field map on which relay points and supply positions PH are set, with a message for collecting the package added. [Figure 29] FIG. 10 is a diagram showing a state in which the tractor moves toward a replenishment position. [Figure 30] FIG. 10 is a diagram showing how the first package and materials are delivered to the field H1. [Figure 31] 10A and 10B are diagrams showing the operation of a transport vehicle T loaded with a first package body and materials. [Figure 32] FIG. 10 is a diagram showing a transport vehicle moving from a relay point A5 toward a tractor. [Figure 33] FIG. 10 is a diagram showing how the first package body and the empty container are delivered to the field H1. [Figure 34] 10A and 10B are diagrams showing the operation of a transport vehicle T loaded with a first package body and an empty container of materials. [Figure 35] FIG. 10 is an overall view showing an energy support system for an agricultural machine according to a second embodiment. [Figure 36] FIG. 2 is a functional block diagram of electronic devices of the agricultural machine. [Figure 37] The figure shows a first tractor and a second tractor working in a field H1. [Figure 38]This shows the operation when the second tractor hands over the filled package body to the first tractor. [Figure 39] FIG. 1 shows an example of a filled package. [Figure 40] FIG. 10 is a diagram showing an example of displaying a charging package. [Figure 41] FIG. 10 is a diagram showing a state in which a second tractor hands over a filled package to a first tractor in a field or a road (farm road). [Figure 42] FIG. 1 is an overall view of a tractor. DETAILED DESCRIPTION OF THE INVENTION

[0016] [First embodiment] Hereinafter, each embodiment of the present invention will be described with reference to the drawings. Fig. 1 shows an energy support system for agricultural machinery. This energy support system for agricultural machinery includes a management device 100. The management device 100 is a stationary computer such as a server, or a portable computer such as a smartphone, tablet, or laptop. The agricultural machinery 101 is an implement such as a tractor, combine harvester, or rice transplanter. In this embodiment, the description will proceed assuming that the agricultural machine 101 is a tractor and the management device 100 is a server.

[0017] <Agricultural machinery> 42 is a side view showing a tractor 101a, which is one of the agricultural machines 101, and an implement 101b attached to the tractor 101a. In the following description, the front side of the driver seated in the driver's seat 10 of the tractor 101a will be referred to as the front, the rear side of the driver will be referred to as the rear, the left side of the driver will be referred to as the left side, and the right side of the driver will be referred to as the right side. In addition, the horizontal direction, which is perpendicular to the fore-and-aft direction of the tractor 101a, will be referred to as the vehicle body width direction.

[0018] As shown in FIG. 42, a tractor 101a (agricultural machine 101a) includes a body 3, a prime mover 4, a transmission 5, and a package 6. The body 3 has a traveling device 7 and is capable of traveling. The traveling device 7 is a device having front wheels 7F and rear wheels 7R. The front wheels 7F may be of either a tire type or a crawler type. The rear wheels 7R may also be of either a tire type or a crawler type. The prime mover 4 is an electric motor. The prime mover 4 is driven by electrical energy (energy source) supplied from the package 6. The transmission 5 can change the propulsion force of the traveling device 7 by changing gears, and can also switch the traveling device 7 between forward and reverse. A driver's seat 10 is provided at the rear of the body 3. The driver's seat 10 is installed in a cabin 9 provided in the body 3. A handle (steering wheel) 30 is provided in front of the driver's seat 10.

[0019] The package 6 is a package filled with energy, such as a battery filled with electrical energy, a hydrogen tank filled with hydrogen, or an LPG (Liquefied Petroleum Gas) tank. When a hydrogen tank is installed, for example, a fuel cell that generates electricity using hydrogen and oxygen in the air may be installed in the tractor 101a, and hydrogen from the tank may be supplied to the fuel cell, thereby supplying the electricity generated by the fuel cell to the prime mover 4 and driving the prime mover 4. When an LPG tank is installed, for example, a generator that generates electricity using a gas engine may be installed in the tractor 101a, and gas from the tank may be supplied to the gas engine, thereby supplying electricity to the prime mover 4 and driving the prime mover 4. In this embodiment, for convenience of explanation, the package 6 is a battery, and the prime mover 4 is an electric motor driven by the power of the battery.

[0020] The package body 6 is detachable from the vehicle body 3. For example, the engine 4 and the package body 6 are arranged in the front part of the vehicle body 3, but the arrangement etc. are not limited thereto.

[0021] Further, a connecting section formed of a three-point link mechanism or the like is provided at the rear of the vehicle body 3. The connecting section is a lifting device 8 to which a working implement 101b can be attached and detached and which allows the working implement 101b to travel. By connecting the implement 101b to the lifting device 8, the implement 101b can be towed by the vehicle body 3. Note that the connecting section may also be a towing device that does not raise and lower the implement 101b. The implement 101b is a tilling device that tills, a ridge forming device that forms ridges, a planting device that plants crops, a fertilizer spreading device that spreads fertilizer, a pesticide spreading device that spreads pesticides, a harvesting device that harvests, a reaping device that reaps grass or the like, a spreading device that spreads grass or the like, a grass collecting device that collects grass or the like, a shaping device that shapes grass or the like, etc.

[0022] As shown in FIG. 2, the transmission 5 receives power from the prime mover 4 and transmits power for the propulsion system and the working system. The transmission 5 includes a main shaft (propeller shaft) 5a, a main transmission unit 5b, an auxiliary transmission unit 5c, a shuttle unit 5d, a PTO power transmission unit 5e, and a front transmission unit 5f. The propeller shaft 5a is rotatably supported in a housing case (transmission case) of the transmission 5, and power is transmitted to the propeller shaft 5a from the crankshaft of the prime mover 4. The main transmission unit 5b has multiple gears and a shifter that changes the connection of the gears. The main transmission unit 5b changes and outputs (shifts) the rotation input from the propeller shaft 5a by appropriately changing the connection (mesh) of the multiple gears using the shifter.

[0023] Like the main transmission unit 5b, the sub-transmission unit 5c has multiple gears and a shifter for changing the connection of the gears. The sub-transmission unit 5c changes and outputs (changes speed) the rotation input from the main transmission unit 5b by appropriately changing the connection (meshing) of the multiple gears using the shifter. The shuttle unit 5d has a shuttle shaft 12 and a forward / reverse switching unit 13. The power output from the sub-transmission unit 5c is transmitted to the shuttle shaft 12 via gears or the like. The forward / reverse switching unit 13 is formed, for example, by a hydraulic clutch or the like, and switches the rotation direction of the shuttle shaft 12, i.e., the forward and reverse movement of the tractor 101a, by engaging and disengaging the hydraulic clutch. The shuttle shaft 12 is connected to a rear wheel differential device 20R. The rear wheel differential device 20R rotatably supports a rear axle 21R to which the rear wheels 7R are attached.

[0024] The PTO power transmission section 5e has a PTO propeller shaft 14 and a PTO clutch 15. The PTO propeller shaft 14 is rotatably supported and can transmit power from the propeller shaft 5a. The PTO propeller shaft 14 is connected to a PTO shaft 16 via gears or the like. The PTO clutch 15 is composed of, for example, a hydraulic clutch, and by engaging and disengaging the hydraulic clutch, the state switches between transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14 and not transmitting the power of the propeller shaft 5a to the PTO propeller shaft 14. The front transmission unit 5f has a first clutch 17 and a second clutch 18. The first clutch 17 and the second clutch 18 can transmit power from the propeller shaft 5a, and for example, the power of the shuttle 12 is transmitted via gears and transmission shafts. The power from the first clutch 17 and the second clutch 18 can be transmitted to the front axle 21F via a front transmission shaft 22. Specifically, the front transmission shaft 22 is connected to a front wheel differential device 20F, and the front wheel differential device 20F rotatably supports the front axle 21F to which the front wheels 7F are attached.

[0025] The first clutch 17 and the second clutch 18 are configured with hydraulic clutches or the like. An oil passage is connected to the first clutch 17, and the oil passage is connected to a first operating valve 25 to which hydraulic oil discharged from a hydraulic pump is supplied. The first clutch 17 is switched between an engaged state and a disengaged state depending on the opening degree of the first operating valve 25. An oil passage is connected to the second clutch 18, and the oil passage is connected to a second operating valve 26. The second clutch 18 is switched between an engaged state and a disengaged state depending on the opening degree of the second operating valve 26. The first operating valve 25 and the second operating valve 26 are, for example, two-position switching valves with solenoid valves, and are switched between the engaged state and the disengaged state by energizing or deenergizing the solenoid of the solenoid valve.

[0026] When the first clutch 17 is disengaged and the second clutch 18 is engaged, the power of the shuttle shaft 12 is transmitted to the front wheels 7F via the second clutch 18. As a result, the front wheels 7F and rear wheels 7R are driven by power, resulting in four-wheel drive (4WD), and the rotational speeds of the front wheels 7F and rear wheels 7R are approximately the same (4WD constant speed state). On the other hand, when the first clutch 17 is engaged and the second clutch 18 is disengaged, the vehicle is in four-wheel drive, and the rotational speed of the front wheels 7F is faster than the rotational speed of the rear wheels 7R (4WD accelerated speed state). Furthermore, when the first clutch 17 and the second clutch 18 are disengaged, the power of the shuttle shaft 12 is not transmitted to the front wheels 7F, resulting in two-wheel drive (2WD) in which the rear wheels 7R are driven by power.

[0027] As shown in FIGS. 2 and 3, the lifting device 8 includes a lift arm 8a, a lower link 8b, a top link 8c, a lift rod 8d, and a lift cylinder 8e. The front end of the lift arm 8a is supported at the rear upper portion of a case (transmission case) that houses the transmission 5 so as to be able to swing upward or downward. The lift arm 8a swings (lifts and lowers) by driving the lift cylinder 8e. The lift cylinder 8e is composed of a hydraulic cylinder. The lift cylinder 8e is connected to a hydraulic pump via a control valve 27. The lift cylinder 8e is switched between an engaged state and a disengaged state depending on the opening of the control valve 27. The control valve 27 is, for example, a two-position switching valve with a solenoid valve, and is switched between an engaged state and a disengaged state by energizing or de-energizing the solenoid of the solenoid valve. When the control valve 27 is in the engaged state, the lift cylinder 8e is driven (extends and retracts) by the hydraulic pump, and when the control valve 27 is in the disengaged state, the drive of the lift cylinder 8e is restricted (locked).

[0028] The front end of the lower link 8b is supported on the rear lower part of the transmission 5 so as to be swingable upward or downward. The front end of the top link 8c is supported on the rear part of the transmission 5, above the lower link 8b, so as to be swingable upward or downward. The lift rod 8d connects the lift arm 8a to the lower link 8b. The implement 101b is connected to the rear part of the lower link 8b and the rear part of the top link 8c. When the lift cylinder 8e is driven (extends and retracts), the lift arm 8a rises and lowers, and the lower link 8b, which is connected to the lift arm 8a via the lift rod 8d, rises and lowers. As a result, the implement 101b swings upward or downward (lifts and lowers) with the front part of the lower link 8b as a fulcrum. When the drive of the lift cylinder 8e is restricted, the lifting and lowering of the implement 101b is also locked.

[0029] As shown in FIG. 4, the package 6 includes a battery pack and an electrical unit (relays, fuses, etc.) inside a substantially rectangular parallelepiped casing. The battery pack is composed of multiple battery modules. The battery module is composed of multiple cells. The package 6 configured in this manner is a battery capable of charging and discharging electrical energy, specifically a lithium-ion battery. The package 6 is held by a holder 6a1 from the outside of the casing, and a grip 6b1 is provided at the front end of the holder 6a1. The mounting portion 19 of the vehicle body 3 includes a storage section 19a that is a space capable of storing the entire package 6, an opening 19b provided on the front side of the storage section 19a in the vehicle width direction, and a flap-type lid 19c that can close the opening 19b. Normally, the package 6 is stored in the storage section 19a, and the opening 19b is closed by the lid 19c, allowing power to be supplied from the package 6 to the tractor 101a.

[0030] When replacing the package 6, the lid 19c is opened to expose the opening 19b. While gripping the gripping portion 6b1 of the currently installed package 6, the holder 6a1 is pulled toward the user, sliding the package 6 toward the user in the vehicle width direction and removing it from the storage portion 19a. The rear end of a new replacement package 6 is inserted into the now empty storage portion 19a through the opening 19b. Next, while gripping the gripping portion 6b1 of the new replacement package 6, the holder 6a1 is pushed toward the user, sliding the new replacement package 6 toward the user in the vehicle width direction. After the new replacement package 6 is entirely housed in the storage portion 19a, the lid 19c is closed to close the opening 19b. The package 6 is replaced in the manner described above. The configurations of the package 6 and the mounting portion 19 are merely examples, and any configuration may be employed as long as the package 6 can be attached to and detached from the mounting portion 19.

[0031] As shown in FIG. 2, the tractor 101a is equipped with a steering device 29. The steering device 29 has a steering wheel 30, a rotating shaft (steering shaft) 31 that rotates in conjunction with the rotation of the steering wheel 30, and an assist mechanism (power steering mechanism) 32 that assists in steering the steering wheel 30. The assist mechanism 32 includes a hydraulic pump 33, a control valve 34 to which hydraulic oil discharged from the hydraulic pump 33 is supplied, and a steering cylinder 35 that is operated by the control valve 34. The control valve 34 is an electromagnetic valve that operates based on a control signal. The control valve 34 is, for example, a three-position switching valve that can be switched by moving a spool or the like. The control valve 34 can also be switched by steering the steering shaft 31. The steering cylinder 35 is connected to an arm (knuckle arm) that changes the direction of the front wheels 7F.

[0032] Therefore, when the steering wheel 30 is operated, the switching position and opening degree of the control valve 34 are switched in response to the steering wheel 30, and the steering cylinder 35 extends or contracts to the left or right in response to the switching position and opening degree of the control valve 34, thereby changing the steering direction of the front wheels 7F. Note that the above-described steering device 29 is an example, and is not limited to the above-described configuration.

[0033] As shown in FIG. 2, the tractor 101a is equipped with a positioning device 40A. The positioning device 40A can detect its own position (positioning information including latitude and longitude) using a satellite positioning system (positioning satellite) such as D-GPS, GPS, GLONASS, Beidou, Galileo, or Michibiki. That is, the positioning device 40A receives satellite signals (positions of the positioning satellites, transmission times, correction information, etc.) transmitted from the positioning satellites and detects its position (e.g., latitude and longitude) based on the satellite signals. The positioning device 40A includes a receiving device 41 and an inertial measurement unit (IMU) 42. The receiving device 41 has an antenna and the like and receives satellite signals transmitted from the positioning satellites, and is attached to the vehicle body 3 separately from the IMU 42. In this embodiment, the receiving device 41 is attached to a cabin 9 provided on the vehicle body 3. Note that the attachment location of the receiving device 41 is not limited to that described in the embodiment.

[0034] The inertial measurement unit 42 has an acceleration sensor that detects acceleration, a gyro sensor that detects angular velocity, etc. The inertial measurement unit 42 is provided on the vehicle body 3, for example, below the driver's seat 10, and can detect the roll angle, pitch angle, yaw angle, etc. of the vehicle body 3.

[0035] As shown in FIG. 2, the tractor 101a includes a communication device 45A. The communication device 45A is connected to the positioning device 40A, the control device 60, operation members (levers, switches, dials, etc.), and sensors via an in-vehicle communication network N1, and receives electrical signals. The communication device 45A can communicate with an external network (external) different from the in-vehicle communication network N1. The communication device 45A can perform wireless communication using, for example, the IEEE 802.11 series of communication standards, such as Wi-Fi (Wireless Fidelity, registered trademark), Bluetooth (Bluetooth (registered trademark) Low Energy), LPWA (Low Power Wide Area), and LPWAN (Low-Power Wide-Area Network). The communication device 45A can also perform wireless communication using, for example, a mobile phone communication network or a data communication network. The communication device 45A transmits the vehicle position (the position of the tractor 101a) detected by the positioning device 40A to the management device 100.

[0036] As shown in Fig. 2, the tractor 101a is equipped with a control device 60. The control device 60 includes a calculation unit (such as a CPU), a storage unit (memory), and the like, and executes predetermined control based on a program stored in the storage unit. More specifically, the control device 60 controls the traveling system and working system of the tractor 101a based on operation signals received when operating members (such as levers, switches, dials, etc.) installed around the driver's seat 10, and detection signals from various sensors mounted on the vehicle body 3.

[0037] When the shuttle lever 43a, which switches the vehicle body 3 between forward and reverse, is operated to forward, the control device 60 switches the forward / reverse switching unit 13 to forward, thereby moving the vehicle body 3 forward. When the shuttle lever 43a is operated to reverse, the control device 60 switches the forward / reverse switching unit 13 to reverse, thereby moving the vehicle body 3 backward.

[0038] When the ignition switch 43b is turned ON, the control device 60 starts the prime mover 4 through a predetermined process, and when the ignition switch 43b is turned OFF, the control device 60 stops the driving of the prime mover 4.

[0039] When the PTO switch 43c is operated while the prime mover 4 is being driven, the control device 60 switches the position of the PTO clutch 15 to one of the neutral position, the ON position, or the OFF position, thereby turning on and off the drive of the PTO shaft 16. When the PTO shift lever 43d is operated, the control device 60 changes the rotation speed of the PTO shaft 16 (referred to as the PTO rotation speed) by switching the PTO shift gear built into the transmission 5.

[0040] When the speed change switch 43e is switched to automatic speed change, the control device 60 automatically switches between the main speed change unit 5b and the sub speed change unit 5c in accordance with the state of the tractor 101a, and automatically changes the gear stage (speed change level) of the transmission 5 to a predetermined gear stage (speed change level).When the speed change switch 43e is switched to manual speed change, the control device 60 automatically switches between the main speed change unit 5b and the sub speed change unit 5c in accordance with the gear stage (speed change level) set by the speed change lever 43f, and changes the gear stage of the transmission 5.

[0041] When the accelerator lever 43g is operated, the control device 60 changes the vehicle speed (velocity) of the vehicle body 3 by changing the rotation speed of the prime mover 4 (referred to as prime mover rotation speed) in accordance with the amount of operation of the accelerator lever 43g.

[0042] When the hydraulic lever 43h is operated in an upward direction (upward side) while the prime mover 4 is in operation, the control device 60 controls the control valve 27 to extend the lift cylinder 8e and raise the rear end portion (the end portion on the implement 101b side) of the lift arm 8a. When the hydraulic lever 43h is operated in a downward direction (downward side) while the prime mover 4 is in operation, the control device 60 controls the control valve 27 to contract the lift cylinder 8e and lower the rear end portion (the end portion on the implement 101b side) of the lift arm 8a.

[0043] The control device 60 is set to automatic driving mode when the driving selector switch 43i is turned ON, and is set to manual driving mode when the driving selector switch 43i is turned OFF. When set to automatic driving mode, the control device 60 performs automatic driving of the tractor 101a. Under automatic driving conditions, the control device 60 automatically changes the rotation angle of the steering shaft (rotating shaft) 31 based on the deviation between the detected vehicle body position and the set planned driving route. The control device 60 also automatically changes the gear position of the transmission 5, the rotation speed of the prime mover 4, etc. so that the current vehicle speed matches the vehicle speed corresponding to the planned driving route. This enables the vehicle body 3 to be automatically driven along the planned driving route.

[0044] The control device 60 acquires the remaining charge of the currently mounted package 6 based on the potential detected by the measurement sensor 43j of the package 6, the rotation speed of the motor 4, the vehicle speed of the vehicle body 3, etc. When the control device 60 determines that the currently mounted package 6 needs to be replaced based on the acquired remaining charge of the package 6, it controls the communication device 45A to transmit the battery monitoring release signal to the management device 100. Furthermore, when the control device 60 determines that the currently mounted package 6 has been replaced with a replacement package 6 based on the potential detected by the measurement sensor 43j of the package 6, it controls the communication device 45A to transmit the battery monitoring signal to the management device 100. Specific aspects of the transmission of the battery monitoring signal and the battery monitoring release signal based on the measurement sensor 43j will be described later.

[0045] 2, the tractor 101a is equipped with a display device 50. The display device 50 is composed of a CPU, an electric and electronic circuit, a panel (a liquid crystal panel, a touch panel, or other panel), and the like.

[0046] The display device 50 registers the contour of a predetermined farm field, for example, a position corresponding to the contour of a predetermined farm field. As shown in Fig. 5, when a predetermined operation is performed on the display device 50, a screen M10 is displayed on the panel of the display device 50.

[0047] Screen M10 displays a map MP1 including the field, the tractor 1's vehicle position VP1, and field identification information such as the field name and field management number. In addition to image data indicating the field, location information such as latitude and longitude is associated with map MP1. When the tractor 1 enters the field and travels around the field, screen M10 displays the current vehicle position VP1 detected by the positioning device 40A as the tractor 1 traveled around the field. When the tractor 1 has finished traveling around the field and the registration button 55 displayed on screen M10 is selected, as shown in FIG. 6A, the display device 50 sets the travel locus K1 obtained from the multiple vehicle positions of the tractor 1 as it traveled around the field as a field outline (outline) H10, and registers the field map MP2 represented by this outline H10 together with the field identification information.

[0048] As shown in FIG. 6B, the display device 50 may calculate inflection points from the travel trajectory indicated by the vehicle body position VP1 and register a contour K2 connecting the inflection points as a contour H10 of the field (field map MP2). Alternatively, as shown in FIG. 6C, the driver or the like may specify the ends of the field using a switch or the like provided on the tractor 1 while the tractor 1 is traveling, and a contour K3 connecting the specified ends may be registered as a contour H10 (field map MP2). The above-described field registration method is an example and is not limiting. The contour of the field, i.e., the field map MP2, may be data represented by position (latitude, longitude), data represented by a coordinate system (X-axis, Y-axis), or data represented in any other manner.

[0049] The display device 50 stores a farm field map MP2 showing the contours (external shapes). That is, the display device 50 stores the farm field map MP2 and data showing the contours of the field (data for representing a specific farm field).

[0050] The display device 50 sets a work area A2. As shown in FIG. 7A, when the worker (driver) performs a predetermined operation on the display device, the display device 50 displays a screen M11. The screen M11 has a field input section 80 and a field display section 81. The field input section 80 allows the input of field identification information such as the field name and field management number. The field display section 81 displays a field map MP2 that indicates a specific field that corresponds to the field identification information input to the field input section 80.

[0051] On screen M11, when the swing width W1 is entered in the swing width input section 82 and then the swing setting button 83 is selected, the display device 50 displays the work area A2 excluding the swing area A1 on the field map MP2 displayed on the field display section 81. For example, the display device 50 sets the area surrounded by the outline H11 formed by offsetting the outline H10 of the field map MP2 inward by the swing width W1 as the work area A2. Note that the work area A2 may also be set on the field map MP2 on screen M11 by specifying the position of the outline of the work area A2 on the field map MP2 displayed on the field display section 81 using a pointer or the like.

[0052] The display device 50 stores data on the field map MP2 in which the work area A2 is set and data indicating the position of the work area A2 (field map). The display device 50 also transmits the field map to the management device 100 via the communication device 45A. Upon receiving the field map, the management device 100 stores the received field map.

[0053] The display device 50 can create a travel route (planned travel route) L1 for the traveling vehicle body 3 on a field map MP2. As shown in FIG. 7B, when the worker (driver) performs a predetermined operation on the display device, the display device 50 displays a screen M12. On screen M12, it is possible to set the planned travel route L1 in at least the work area A2 in the field. Screen M12 includes a route display section 85 that displays the planned travel route L1, and a width input section 86. The work width W2 of the work device 2 is the width (work execution width) over which the work device 2 performs work on the ground, such as a field, and in the case of a work device 2 that spreads materials on the field, it is the spraying width over which the materials are supplied. For example, if the working device 2 is a fertilizer applicator, the working width W2 is the fertilization width, if it is a chemical sprayer, the working width W2 is the chemical spraying width, if it is a seedling transplanter, the working width W2 is the planting width that allows seedlings to be planted in the field in one operation, and if it is a sowing device, the working width W2 is the sowing width. Note that ground work refers to agricultural work performed on the field and the crops planted in the field, such as planting seedlings, irrigation, spraying chemicals, spraying fertilizer (fertilizing), scattering seeds (sowing), compacting, covering with soil, forming ridges, plowing, and forming furrows.

[0054] When the display device 50 acquires the working width W2, it divides the work area A2 vertically or horizontally by the working width W2, as shown in FIG. 8A, to create multiple unit work sections A3 within the work area A2 in which work will be performed by the work implement 2. That is, the display device 50 creates multiple unit work sections A3 within the work area A2, each having the same width as the working width W2. Note that, as shown in FIG. 8B, the display device 50 may also create multiple unit work sections A3 within the work area A2, each having a width W4, which is the working width W2 minus the overlap width W3. The overlap width W3 can be entered on screen M12. That is, when the traveling vehicle body 3 to which the work implement 2 is coupled is traveling, the display device 50 sets the smallest unit area in the field in which work will be performed by the work implement 2 as the unit work section A3.

[0055] As shown in Figure 8C, the display device 50 creates a straight section (straight route) L1a along which the traveling vehicle body 3 moves straight for each unit work section A3 on the field map MP2. That is, the display device 50 creates, for example, a straight straight route L1a in the widthwise center of the unit work section A3, connecting both longitudinal ends of the unit work section A3. The display device 50 creates a turning section (turning route) L1b along which the traveling vehicle body 3 turns in the turning area A1.

[0056] The display device 50 can associate the planned travel route L1 with the vehicle speed (movement speed) of the tractor 1 (traveling body 3). For example, assume that the screen M12 is provided with a vehicle speed input section for inputting the vehicle speed, and the vehicle speed is input to the vehicle speed input section. The display device 50 associates the straight route L1a with the vehicle speed input to the vehicle speed input section. The display device 50 stores the planned travel route L1 (straight route L1a and turning route L1b).

[0057] <Contents of farm work (work plan)> As shown in FIG. 1, the energy support system for agricultural machinery includes a management device 100. The management device 100 can be connected to a communication device 45A or an external terminal 120. The external terminal 120 is a terminal such as a portable computer (notebook computer), a fixed computer (personal computer), a PDA, a smartphone, or a tablet. The management device 100 performs a predetermined operation when it receives a predetermined command from the external terminal 120. For convenience of explanation, the external terminal 120 owned or operated by a manager who manages agriculture will be referred to as a manager terminal 120A, and the external terminal 120 owned or operated by a worker who performs farm work, etc. will be referred to as a worker terminal 120B.

[0058] The management device 100 includes a job creation unit 110 and a job memory unit 111. The job creation unit 110 is configured by electronic and electrical circuits provided in the management device 100, and programs stored in a calculation unit such as a CPU of the management device 100. The job memory unit 111 is configured by a non-volatile memory or the like.

[0059] The task creation unit 110 creates agricultural task details (task plans) that include at least tasks, scheduled execution dates, and fields. When the manager terminal 120A connects to the management device 100 and issues a predetermined command to the management device 100, the task creation unit 110 displays a screen M1 on the manager terminal 120A, as shown in FIG. 9. The screen M1 includes a task setting unit 131, a date setting unit 132, a field setting unit 133, and a time setting unit 134. The task setting unit 131 is used to set tasks, and a predetermined task can be set by selecting a predetermined task from pre-registered tasks. Note that a task is a task performed to cultivate crops, such as bed soil preparation, ridge filling, plowing, sowing, planting, plowing, furrow cutting, weeding, fertilizing, and harvesting.

[0060] The date setting unit 132 is a unit for setting the scheduled date for performing the work set in the work setting unit 131, and the scheduled date can be set by inputting the year, month, day, etc. The field setting unit 133 is a unit for setting the field on which the work will be performed, and for example, displays multiple fields on a pre-registered field map, and a specific field selected from the multiple fields is set as the field on which the work will be performed. The time setting unit 134 is a unit for setting the time period during which the work will be performed, and the time period can be set by inputting the time.

[0061] Screen M1 may include a worker setting section 135 for setting the worker who will perform the work, a machine setting section 136 for setting the machine that will perform the work, a scattering material setting section 137 for setting the name of the scattering material if the work is scattering a scattering material, and a scattering amount setting section 138 for setting the amount of scattering material. Machine information such as the type and model number of the agricultural machine can be entered in machine setting section 136.

[0062] When the registration button 139 on the screen M1 is selected, the task creation unit 110 creates the agricultural work content (work plan) from the information (content) set in the task setting unit 131, date setting unit 132, field setting unit 133, time setting unit 134, worker setting unit 135, machine setting unit 136, spray material setting unit 137, and spray amount setting unit 138. The task memory unit 111 stores the task plan (task, scheduled date, field, time period, worker, machine, name of spray material, and spray amount) created by the task creation unit 110. The task plan in the above-described embodiment is an example and is not limited thereto. For example, the task is not limited to rice farming, but may include field farming or other tasks. In this way, the agricultural work content (work plan) created by the task creation unit 110 of the management device 100 can be displayed on the administrator terminal 120A and the worker terminal 120B for confirmation by the administrator, worker, etc.

[0063] <About farm work> When performing farm work, the worker or the like refers to the work plan displayed on the worker terminal 120B. As shown in FIG. 10 , the worker or the like manually drives the tractor 101a from a storage location H2 such as a barn toward a field H1 (for example, field A) indicated in the work plan. When the tractor 101a arrives at the field H1 (field A), the worker or the like performs the farm work by running the tractor 101a within the field H1 (field A). When the farm work in the field H1 (field A) is completed, the worker moves the tractor 101a to a field H1 (for example, field B) different from the field H1 (field A) where the farm work was completed, and after arriving at the field H1 (field B), the worker or the like performs the farm work by running the tractor 101a within the field H1 (field B). In this way, when performing agricultural work, the tractor 101a can be moved sequentially through the fields H1 (field A, field B,..., field F) according to the work plan, thereby performing agricultural work using the tractor 101a in each field H1. When the agricultural work in the field H1 indicated in the work plan for a predetermined period (for example, one day) is completed, the worker moves the tractor 101a to the storage location H2 and parks the tractor 101a at the storage location H2. Note that in the above-described embodiment, the tractor 101a is manually driven to move from the storage location H2 to the field H1, move between the fields H1, and return from the field H1 to the storage location H2, but the movement of the tractor 101a is not limited to this and may be automatically driven. Furthermore, automatic driving and manual driving may be combined, such as automatically driving within the field H1 and manually driving the field H1. In addition, the automatic driving of the tractor 101a is performed by depicting the route (planned driving route) along which the tractor 101a will travel during automatic driving on a field map that indicates latitude, longitude, etc., similar to the planned driving route L1 in the field, and the tractor 101a travels along the depicted route (planned driving route) under the control of the control device 60. In the above-described automatic driving, an example has been given in which the tractor 101a moves along the planned driving route, but the direction of automatic driving is not limited to this.

[0064] <Calculation of energy consumption / number of battery packs> For example, before the tractor 101a performs agricultural work in the field H1, the management device 100 calculates the energy consumption of the tractor 101a when the tractor 101a performs the agricultural work. The management device 100 refers to the work plan and calculates the energy consumption of the tractor 101a based on the content of the agricultural work indicated in the work plan.

[0065] Fig. 12 shows an example of a work plan. As shown in Fig. 12, the management device 100 refers to the work plan for April 8, for example. The work plan shows multiple fields H1 (field A, field B, field C, field F). The management device 100 calculates the energy consumption by the tractor 101a for each of the multiple fields H1 (field A, field B, field C, field F) based on the details of the farm work in each of the multiple fields H1 (field A, field B, field C, field F). The management device 100 extracts the agricultural work (work content) for each of the multiple fields H1 (field A, field B, field C, field F), and, as shown in FIG. 13, calculates the energy consumption (first energy consumption) to be consumed in the agricultural work for field H1 from the extracted agricultural work, the energy consumption per unit area for the agricultural work, and the field area pre-registered in the management device 100. As shown in FIG. 12, for example, in the work plan for April 8, the work content is plowing and the area of ​​field A is 60 a. As shown in FIG. 13, the energy consumption per unit area is 1 kWh, so the energy consumption in field A is 60 kWh.

[0066] The management device 100 also calculates the distance (field-to-field travel distance) from the storage location H2 where the tractor 101a is stored via each field H1 (field A, field B, field C, field F) to return to the storage location H2, and calculates the energy consumption (second energy consumption) consumed by the tractor 101a in travel. The total energy consumption, which is the sum of the first energy consumption and the second energy consumption, is regarded as the energy consumption required for agricultural work.

[0067] In the above-described embodiment, the energy consumption is calculated based on the agricultural work and the energy consumption per unit area. In addition, the management device 100 may refer to the machine information (model and model number of the tractor 101a) indicated in the work plan and calculate the energy consumption by multiplying the machine information by a coefficient determined according to the model and model number.

[0068] Next, after determining the energy consumption required for the agricultural work, the management device 100 calculates the number of packages 6 required to cover the energy consumption. As shown in Fig. 14, the management device 100 refers to the machine information indicated in the work plan, identifies the packages 6 attached to the tractor 101a based on the referenced machine information, and extracts the maximum energy amount (maximum energy amount) of the identified packages 6.

[0069] As shown in FIG. 14, the management device 100 refers to a database of machine information and identification information such as a model number that identifies the package 6, and identifies the package 6 attached to the tractor 101a. As shown in FIG. 12, for example, in the work plan for April 8, the machine used for farm work in each of the multiple fields H1 (field A, field B, field C, and field F) is "machine A." Therefore, as shown in FIG. 14, the management device 100 identifies that the package 6 attached to "machine A" is "model number A." The management device 100 calculates the number of packages 6 by dividing the maximum energy amount of "model number A," which is the package 6 attached to "machine A," by the total energy consumption (energy consumption obtained by adding up the first consumed energy and the second consumed energy) of each of the multiple fields H1 (field A, field B, field C, and field F). For example, the energy consumption in field A is 70 kWh, and work in field A is carried out using a tractor 101a equipped with model number A. Therefore, the management device 100 calculates that the number of package bodies 6 required for agricultural work in field A is two by dividing 50 kWh, which is the energy capacity of model number A, from 70 kWh.

[0070] The management device 100 stores the date, field H1, farm work, work time, machine information, number of packages, and model number (identification information) of the packages as energy information. The energy information includes a work plan such as the date, field H1, farm work, work time, and machine information.

[0071] In the above-described embodiment, the number of packages 6 was determined by dividing the maximum energy amount of the packages 6 by the total energy consumption in field H1. However, instead of the maximum energy amount of the packages 6, a predetermined energy amount (80% of the energy amount when the maximum energy amount is expressed as 100%) may be used. In this case, the number of packages 6 (rounded up to the nearest whole number) = energy consumption in field H1 / predetermined energy amount of the packages. For example, when applied to field A on April 8th described above, the number of packages 6 in field A is two, which is calculated by dividing the energy consumption in field A (70 kWh) by the predetermined energy amount of the packages (40 kWh: 80% of the maximum energy of 50 kWh).

[0072] <Energy Support System Operation> The operation of the energy support system for agricultural machinery will be described. As shown in Fig. 15A, when the manager terminal 120A connects to the management device 100 and sends a command to create a work plan to the management device 100 (step S1), the management device 100 causes the manager terminal 120A to display a screen M1 (step S2). When the manager terminal 120A is operated and a work plan is sent to the management device 100 (step S3), the management device 100 stores the work plan (step S4). At least the day before the date indicated in the work plan or the date and time indicated in the work plan, the management device 100 executes a process (first process) of calculating the total energy consumption by the tractor 101a for each field H1 and calculating the number of packages 6 from the total energy consumption (step S5). In the first process, the management device 100 refers to the work plan and calculates the total energy consumption when the tractor 101a performs work for each field specified in the work plan, and calculates the number of packages 6 from the calculated total energy consumption, the maximum energy amount of the packages 6 mounted on the tractor 101a, or the specified energy amount of the packages 6. That is, in the first process, the management device 100 determines the number of packages 6 using the method described above. After the first process, the management device 100 stores energy information (date, field H1, farm work, machine information, number of packages, and package identification information) (step S6).

[0073] When a work plan is requested from the worker terminal 120B or when the current date and time reaches a predetermined date and time, the management device 100 transmits the work plan to the worker terminal 120B (step S7). When energy information is requested from the worker terminal 120B, the management device 100 transmits the energy information to the worker terminal 120B (step S8). When energy information is requested from the manager terminal 120A, the management device 100 transmits the energy information to the manager terminal 120A (step S9).

[0074] As described above, before performing farm work with the tractor 101a, the worker or manager can ascertain the number of packages 6 required for the farm work in the field H1 where the tractor 101a will be used.

[0075] <Package delivery / collection> As described above, when agricultural work is performed while the tractor 101a is traveling, the energy of the package 6 is consumed. The energy support system for the agricultural machinery supports the delivery of the package 6 to the field H1 and the collection of the package 6 placed in the field H1.

[0076] As shown in FIGS. 11A and 11B, a replacement package 6A (referred to as a first package 6A) and a used package 6B (referred to as a second package 6B) are stored in a delivery center H3. The second package 6B is charged with energy by a charging facility installed in the delivery center H3, and once the charging of energy is complete, it is stored in a storage location as the first package 6A. The first package 6A is delivered and the second package 6B is collected by a transport vehicle T such as a truck. The first package 6A has been sufficiently charged with energy; for example, if the maximum energy charging amount of the package 6 is 100%, the charging amount is 80% or more. Note that the charging amount is just an example and is not limited to 80% or more.

[0077] 11A shows how the first package 6A is delivered to the farm field H1, which is the delivery destination of the package 6A, by the transport vehicle T. FIG. 11B shows how the package 6B is collected by the transport vehicle T.

[0078] The transport vehicle T delivers the package 6A to the destination field H1 in accordance with the energy information, the delivery plan, or a request from the tractor 101a to deliver the first package 6A. The transport vehicle T also collects the package 6B in accordance with the energy information, the collection plan, or a request from the tractor 101a to collect the package 6B. The transport vehicle T can move to the destination field H1 by manual or automatic driving.

[0079] The delivery of the package 6A and the collection of the package 6B will be described below. As shown in Fig. 1, the transporter T is provided with a communication device 45B. The communication device 45B can be connected to the management device 100, similar to the communication device 45A, and can acquire various information transmitted from the management device 100. In addition, an external terminal (driver's terminal) 120C of the driver who drives the transporter T can be connected to the management device 100 and can acquire various information transmitted from the management device 100. The delivery center H3 is provided with an external terminal (center terminal) 120D. The center terminal 120D can be connected to the management device 100 and can acquire various information transmitted from the management device 100.

[0080] <Energy Information> When the current time reaches a predetermined time, the management device 100 transmits energy information including the number of first packages 6A and field information regarding the field to which the packages 6A are to be delivered to at least one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. As shown in FIG. 14 , the management device 100 transmits the energy information for April 8 to one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. That is, before agricultural work begins, the management device 100 transmits the energy information to one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. When the energy information is received by the transporter T, the driver can check the energy information received by the transporter T on a display device mounted on the transporter T. When the energy information is received by the driver terminal 120C, the driver can check the energy information received by the driver terminal 120C on the screen of the driver terminal 120C. When the energy information is received by the center terminal 120D, the worker at the delivery center can check the energy information received by the center terminal 120D on the screen of the center terminal 120D.

[0081] As shown in FIG. 14, referring to the energy information for April 8, it can be seen that two packages 6 of "Model No. A" are required for agricultural work in fields A and B. That is, in fields A and B, the packages 6 of "Model No. A" loaded on the tractor 101a need to be replaced during the agricultural work. Therefore, as shown in FIG. 11A, at least two first packages 6A of "Model No. A" are loaded onto a transporter T, and the driver drives the transporter T to move the transporter T from the delivery center H3 to field A. When the transporter T arrives at field A, the driver places at least one first package 6A in field A and then drives the transporter T toward field B. When the transporter T arrives at field B, the driver places at least one first package 6A in field B and then returns the transporter T to the delivery center H3. That is, the driver calculates which of the multiple fields H1 (field A, field B, field C, field F) has a shortage of packages 6 and the number of packages 6 that are lacking in that field H1, and drives the transport vehicle T to deliver the packages 6 to the fields H1 that have a shortage of packages 6. Meanwhile, the worker driving the tractor 101a replaces the first packages 6A with packages 6 (second packages 6B) loaded on the tractor 101a in each of fields A and B. The worker places the second packages 6B around fields A and B.

[0082] 11B, the driver can understand from the energy information that after delivering the first package body 6A to field A and field B, the second package body 6B will be placed around field A and field B. After April 8, the driver will move the transport vehicle T to each of field A and field B and collect the second package body 6B that has been placed around field A and field B.

[0083] <Delivery plan, collection plan> In the above-described embodiment, delivery and collection of the package body 6 were carried out by transmitting energy information to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, but delivery and collection of the package body 6 may also be carried out based on a delivery plan and a collection plan.

[0084] FIG. 15B shows the operation of delivering the first package 6A in the delivery plan. The management device 100 refers to the work plan for agricultural work when the current time reaches a predetermined time (step S20). For example, as shown in FIG. 14, the management device 100 refers to the energy information for April 8, which includes the work plan. The management device 100 sets a delivery plan based on the work plan (step S21). As shown in FIG. 16, the management device 100 sets the delivery destination, delivery date and time, number of packages 6 to be delivered, and model number as the delivery plan. In the delivery plan for April 8, the management device 100 sets the delivery destination to the field indicated in the work plan for April 8. In the delivery plan for April 8, the management device 100 sets the delivery date and time to the date and time (start time) when agricultural work starts in field H1, or to a time before the start date and time. Furthermore, in the delivery plan for April 8, the management device 100 sets the number of packages 6 required for each field H1 divided by one as the number of deliveries. The management device 100 refers to the energy information, identifies that the package 6 loaded on the tractor 101a is "model number A," and reflects the identified "model number A" in the identification information of the delivery plan. Note that in FIG. 16, when the number of deliveries is zero, it indicates that no delivery will be made.

[0085] As shown in FIG. 15B, once the management device 100 has set the delivery plan, it transmits a command (delivery command) to deliver the first package 6A to field H1 a predetermined time before the delivery date and time, i.e., a delivery instruction, to at least one of the transport vehicle T (communication device 45B), the driver's terminal 120C, and the center terminal 120D (step S22). The delivery command includes delivery location information including the location of the delivery destination, the delivery date and time, the number of packages to be delivered, and identification information. The management device 100 transmits the delivery command to at least one of the transport vehicle T (communication device 45B), the driver's terminal 120C, and the center terminal 120D to deliver one first package 6A of "model number A" to each of field A and field B.

[0086] As described above, the management device 100 calculates a delivery plan from the work plan and transmits a delivery command (delivery instruction) based on the delivery plan to the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, thereby easily delivering the first package body 6A.

[0087] FIG. 17 shows the operation of collecting the second package body 6B in the collection plan. The management device 100 refers to the work plan for agricultural work when the current time reaches a predetermined time (step S30). For example, as shown in FIG. 14, the management device 100 refers to the energy information for April 8, which includes the work plan. The management device 100 sets the collection plan based on the work plan (step S31). As shown in FIG. 18, the management device 100 sets the collection destination, collection date and time, collection quantity, and model number as the collection plan. In the collection plan for April 8, the management device 100 sets the collection destination to the field indicated in the work plan for April 8. In the collection plan for April 8, the management device 100 sets the collection date and time to the date and time (end time) when agricultural work in field H1 ends, or a time before or after the end time. Furthermore, in the collection plan for April 8, the management device 100 sets the number of packages 6 required for each field H1 divided by one as the number of packages to be collected. The management device 100 refers to the energy information, identifies that the package 6 mounted on the tractor 101a is "model number A," and reflects the identified "model number A" in the identification information of the collection plan. Note that in FIG. 18, when the number of packages to be collected is zero, it indicates that collection will not be performed.

[0088] 17, once the management device 100 sets the collection plan, it transmits a command (collection command) to collect the second package body 6B to the field H1 a predetermined time before the collection date and time, i.e., a collection instruction, to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D (step S32). The collection command includes collection location information including the location of the collection destination, the collection date and time, the number of packages to be collected, and identification information. The management device 100 transmits the collection command to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D to collect one second package body 6B each from field A and field B.

[0089] As described above, the management device 100 calculates a collection plan from the work plan and transmits a collection command (collection instruction) based on the collection plan to the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, thereby easily collecting the second package body 6B.

[0090] <Delivery request, collection request> In the above-described embodiment, the management device 100 delivered and collected the package body 6 by sending delivery instructions and collection instructions to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, but the delivery and collection of the package body 6 may also be performed in response to a request from the tractor 101a.

[0091] As shown in FIG. 2, the tractor 101a is provided with an operation switch 130. The operation switch 130 is provided around the driver's seat 10 and can be operated by the driver. When a predetermined operation is performed on the operation switch 130, it requests at least one of delivery of the first package 6A (delivery request) and collection of the second package 6B that has already been delivered (collection request). When a delivery request is made, the communication device 45A of the tractor 101a transmits information indicating the vehicle position detected by the positioning device 40A and the request for delivery of the first package 6A to at least one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. Upon receiving the delivery request, each of the transporter T, the driver terminal 120C, and the center terminal 120D displays the identification information of the package 6 loaded on the tractor 101a, the vehicle position, and the delivery request.

[0092] Furthermore, when a collection request is made, the communication device 45A of the tractor 101a transmits the vehicle position detected by the positioning device 40A and information indicating a request for collection of the second package body 6B to at least one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. Upon receiving the collection request, each of the transporter T, the driver terminal 120C, and the center terminal 120D displays the identification information of the package body 6 loaded on the tractor 101a, the vehicle position, and a request for collection of the second package body 6B.

[0093] As described above, the package 6 can be easily delivered or collected in response to a delivery or collection request from the tractor 101a.

[0094] In the above-described embodiment, a delivery request or a collection request is made by operating the operation switch 130 provided on the tractor 101a. However, at least one of a delivery request and a collection request may be made automatically when the remaining amount of energy in the package 6 attached to the tractor 101a falls below a threshold. The control device 60 or the communication device 45A of the tractor 101a monitors the remaining amount of energy in the attached package 6 based on the potential detected by the measurement sensor 43j, etc. When the control device 60 is monitoring the remaining amount of energy, if the remaining amount of energy falls below a threshold, the control device 60 instructs the communication device 45A to send a delivery request and a collection request. In response to the instruction, the communication device 45A transmits the delivery request and the collection request to at least one of the transporter T (communication device 45B), the driver terminal 120C, and the center terminal 120D. When the communication device 45A is monitoring the remaining amount of energy, if the remaining amount of energy falls below a threshold, the communication device 45A will send a delivery request and a collection request to at least one of the transport vehicle T (communication device 45B), the driver terminal 120C, and the center terminal 120D, regardless of instructions from the control device 60.

[0095] If the transport vehicle T is an automatically driven vehicle, it may move automatically toward the field H1 when it receives a command to deliver the package (delivery command, delivery request). Also, if the transport vehicle T is an automatically driven vehicle, it may move automatically toward the field H1 when it receives a command to collect the package 6 (collection command, collection request).

[0096] <Package deterioration / fee calculation> At the delivery center H3, the first package 6A specified in the delivery instruction or delivery request is selected from the plurality of first package 6A stored at the delivery base H3, and the selected first package 6A is loaded onto the transport vehicle T. The management device 100 calculates the deterioration of the first package 6A from the delivery history of the plurality of first package 6A stored at the delivery base H3 (delivery source), and selects the first package 6A to be delivered from the plurality of first package 6A based on the calculated deterioration of the first package 6A.

[0097] At the delivery center H3, the energy of the first package body 6A is measured before delivery, and is recorded in a database in the external terminal 120D as a delivery history together with the identification information of the package body 6 and the delivery date and time, as shown in Fig. 19. Furthermore, when the collected second package body 6B arrives at the delivery center H3, the remaining amount of energy in the second package body 6B at the time of collection is measured, and is recorded in a database as a delivery history together with the delivery date and time and collection date and time, as shown in Fig. 19. The collected second package body 6B is charged with energy by an energy charging device and stored in a storage location as the first package body 6A.

[0098] The external terminal 120D calculates the deterioration level of each package 6 based on the energy charge amount, remaining amount, and number of times of charging. As shown in Fig. 20, the external terminal 120D sets coefficients according to the remaining amount, energy charge amount, and number of times of charging of the package 6, calculates the deterioration level per charging by multiplying the coefficients, and calculates the deterioration level per charging by accumulating the deterioration levels per charging. Note that the calculation of the deterioration level is an example and is not limited thereto.

[0099] Fig. 21 shows the degree of deterioration for each package 6 stored in the center terminal 120D. As shown in Fig. 21, when four packages 6 of "model number A" are stored as first packages 6A and two first packages 6A need to be delivered, "model number A-169908" and "model number A-169909" with the least degree of deterioration are selected as the first packages 6A to be delivered. When the center terminal 120D selects the first packages 6A, the identification number, storage location, etc. of the selected first packages 6A are notified to either the transport vehicle T, the driver's terminal 120C, or the center terminal 120D. In the above-described embodiment, the management device 100 may determine the delivery fee based on the size (maximum energy capacity) of the first packaging body 6A to be delivered. As shown in FIG. 22, the management device 100 stores fee data indicating the relationship between the model number (identification information) of the first packaging body 6A and the delivery fee per unit. The fee data sets a higher delivery fee per unit as the maximum energy capacity increases. The management device 100 calculates the delivery fee for each field by multiplying the number of first packaging bodies 6A by the delivery fee per unit, and transmits the calculated delivery fee data to the manager terminal 120A. This allows the delivery fee based on the size of the first packaging body 6A to be easily calculated and billed to the manager, etc.

[0100] In the above-described embodiment, the number of packages 6 for each field H1 is calculated by automatically referencing the work plan. However, as shown in FIG. 23 , a predetermined period may be input into screen M15, a search may be performed for the field H1 where agricultural work will be performed during the input period, and the number of packages 6 required to perform the agricultural work in the field H1 extracted by the search may be calculated. When a user performs a predetermined operation on the manager terminal 120A to request the management device 100 to calculate the number of packages 6, the management device 100 displays screen M15 on the manager terminal 120A. Screen M15 includes a period input unit 140 for inputting a period. When a predetermined period is input into the period input unit 140, the management device 100 refers to the work plan for the predetermined period, calculates the number of packages 6 based on the referenced work plan, and creates energy information for the predetermined period. Screen M15 includes an information display unit 141 for displaying energy information, and the energy information for the predetermined period is displayed on the information display unit 141. The energy information displayed on the screen M15 of the administrator terminal 120A is transmitted to at least one of the hauler T, the driver terminal 120C, and the center terminal 120D. This allows the delivery center H3 to easily grasp the energy information for a predetermined period. In the above-described embodiment, the screen M15 is displayed on the administrator terminal 120A, but it may also be displayed on one of the hauler T, the driver terminal 120C, and the center terminal 120D, and the energy information may be displayed on the screen by operating one of the hauler T, the driver terminal 120C, and the center terminal.

[0101] <Relay location> In the above-described embodiment, when delivering the first package body 6A, the delivered first package body 6A is placed around the field H1, but if a relay point A5 is set to be passed through during the agricultural work, the driver may be advised to place the first package body 6A at the relay point A5.

[0102] The relay location A5 can be set using the display device 50, the manager terminal 120A, and the worker terminal 120B. After setting the work area A2 on the display device 50, a predetermined operation can be performed to set the relay location A5. The display device 50 can set the relay location A5 after setting the planned travel route L1 on the screen M12 as shown in FIG. 7B, or after setting the work area A2 on the screen M11 as shown in FIG. 7A. For example, as shown in FIG. 24, when a predetermined operation is performed while the screen M12 is displayed, the display device 50 enters a setting mode for the relay location A5, and a pointer 95 is displayed on the screen M12. When an area (external area) outside the work area A2, i.e., the turning area A1, is selected by the pointer 95, the selected turning area A1 is set as the relay location A5. More specifically, as shown in FIG. 25, it is assumed that the work area A2 is made up of a plurality of sides Gi (i = 1, 2, 3, 4, . . . i), and the turning area A1 is divided into a plurality of areas Ji (i = 1, 2, 3, 4, . . . i) that are adjacent to the plurality of sides Gi. In this case, the area Ji selected by the pointer unit 95 from the plurality of areas Ji is set as the relay location A5. For example, if the work area A2 is made up of four sides G1, G2, G3, and G4, the turning area A1 will be made up of four areas J1, J2, J3, and J4. Here, if the area J3 is selected from the four areas J1, J2, J3, and J4, the display device 50 will set the area J3 as the relay location A5, and display the relay location A5 set outside the work area A2, as shown in FIG. 24. In this way, the relay location A5 can be set in accordance with the shape of the field, that is, the shape of the work area A2, outside the work area A2, for example, in an area Ji adjacent to a farm road.

[0103] As described above, when relay location A5 is set on display device 50, data on field map MP2 including work area A2 and relay location A5, and a field map including data indicating the positions of work area A2 and relay location A5 are stored in display device 50. Furthermore, the field map including relay location A5 is transmitted to management device 100 via communication device 45A, and the field map including relay location A5 is stored in management device 100. When relay location A5 is set on manager terminal 120A or operator terminal 120B, a field map in which relay location A5 has not been set is read from management device 100, and the read field map is displayed on the screen of manager terminal 120A or operator terminal 120B. Like display device 50, manager terminal 120A or operator terminal 120B has a function for setting relay location A5, and, like display device 50, relay location A5 can be set by setting area Ji using pointer unit 95. Even when relay location A5 is set on manager terminal 120A or worker terminal 120B, data on field map MP2 including work area A2 and relay location A5, and a field map including data indicating the positions of work area A2 and relay location A5 are stored in manager terminal 120A or worker terminal 120B and transmitted to management device 100, and the field map including relay location A5 is stored in management device 100.

[0104] As described above, when a relay location A5 is set, the management device 100 transmits a field map including the relay location A5 to either the transport vehicle T, the driver's terminal 120C, or the center terminal 120D when delivering the first package body 6A or collecting the second package body 6B, and displays the field map including the relay location A5 on the screen (referred to as the terminal screen) M30 of either the transport vehicle T, the driver's terminal 120C, or the center terminal 120D, as shown in Figures 26A and 26B.

[0105] 26A, in the case of delivery of the first package 6A, the management device 100 displays on the terminal screen M30 a message indicating that the first package 6A will be placed at the relay point A5. As shown in Fig. 26B, in the case of collection of the second package 6B, the management device 100 displays on the terminal screen M30 a message indicating that the second package 6B placed at the relay point A5 will be collected. In other words, the management device 100 notifies the user that at least a first package 6A different from the package 6 attached to the tractor 101a will be delivered to the relay point A5 in order to continue farm work by the tractor 101a in the field H1.

[0106] When the manager terminal 120A or the worker terminal 120B is connected to the management device 100 and a request is made to display the relay location A5, a farm field map including the relay location A5 can also be displayed on the manager terminal 120A or the worker terminal 120B, as in Figures 26A and 26B. Furthermore, when the relay location A5 is displayed on the manager terminal 120A or the worker terminal 120B, if it has been decided to deliver the first package 6A or collect the second package 6B, the management device 100 displays a message indicating that the first package 6A will be placed at the relay location A5, or a message indicating that the second package 6B placed at the relay location A5 will be collected.

[0107] The management device 100 can set the relay location A5 as a place to place materials such as fertilizer, pesticides, seedlings, seeds, etc. The relay location A5 can be set by any of the manager terminal 120A, the worker terminal 120B, and the display device 50. Hereinafter, for convenience of explanation, the manager terminal 120A, the worker terminal 120B, and the display device 50 will be referred to as the "agricultural terminal."

[0108] Specifically, when the agricultural terminal is operated to enter the material setting mode, the agricultural terminal and the management device 100 are connected. In the material setting mode, as shown in FIG. 27A, an input section for inputting a field is displayed on the screen M31 of the agricultural terminal. When field identification information such as a field name is entered into the input section of the screen M31, the management device 100 extracts the field H1 linked to the field identification information and displays a field map including the extracted field H1 on the screen M31. If a relay location A5 has already been set on the field map displayed on the screen M31 of the agricultural terminal, the management device 100 displays a message on the screen M31 of the agricultural terminal instructing the user to set a location for placing materials. When the pointer unit 95 displayed on the screen M31 of the agricultural terminal is moved to a predetermined position and a predetermined operation is performed while the pointer unit 95 is within the range of the relay location A5, the management device 100 sets the position of the pointer unit 95 as the supply position PH, as shown in FIG. 27B. That is, the management device 100 sets the supply position PH on the field map displayed on the screen M31. The field map on which the supply position PH has been set is stored in the management device 100 and the agricultural terminal. If the relay location A5 has not been set, the relay location A5 can be set at the agricultural terminal (manager terminal 120A, worker terminal 120B, display device 50) as described above.

[0109] As described above, when the supply position PH is set on the agricultural terminal, data of the field map MP2 including the work area A2, the relay location A5, and the supply position PH, and a field map including data indicating the positions of the work area A2, the relay location A5, and the supply position PH are stored in the agricultural terminal and transmitted to the management device 100, and the field map including the relay location A5 and the supply position PH is stored in the management device 100.

[0110] In this way, when not only the relay location A5 but also the supply location PH is set, when the first package 6A is delivered, the management device 100 displays a farm field map including the supply location PH and the relay location A5 on the terminal screen M30 as shown in FIG. 28A, and displays a message indicating that the materials will be supplied at the supply location PH and that the first package 6A will be placed at the relay location A5. When the second package 6B is collected, the management device 100 displays a farm field map including the supply location PH and the relay location A5 on the terminal screen M30 as shown in FIG. 28B, and displays a message indicating that the materials will be supplied at the supply location PH and that the second package 6B will be collected at the relay location A5. When the management device 100 delivers the first package 6A or collects the second package 6B, it is possible for a screen similar to the terminal screen M30 shown in FIG. 28A or FIG. 28B to be displayed on the agricultural terminal (the administrator terminal 120A, the worker terminal 120B, or the display device 50). Therefore, when the materials are transported to the field H1, the worker can place the transported materials at the supply position PH by checking the field map including the supply position PH displayed on the agricultural terminal.

[0111] <Agricultural work (materials)> When the tractor 101a performs agricultural work that consumes materials such as fertilizer, pesticides, seedlings, and seeds, if the display device 50 stores a field map that includes the supply position PH and the relay location A5, the field map is displayed on the display device 50, and the current vehicle position is also displayed on the field map. If the display device 50 does not store a field map that includes the supply position PH and the relay location A5, the communication device 45A transmits the current vehicle position to the management device 100. The management device 100 searches for the field H1 from the vehicle position, and if the management device 100 stores a field map in which the supply position PH and the relay location A5 are set for the searched field H1, the management device 100 transmits the field map to the communication device 45A of the tractor 101a, and the display device 50 displays the field map that includes the supply position PH and the relay location A5 transmitted from the management device 100.

[0112] The tractor 101a has a measurement sensor 43k that detects the amount of materials loaded on the working device 2. The measurement sensor 43k monitors the amount of materials while the working device 2 is operating. If the amount of materials falls below a threshold during automatic operation, the control device 60 automatically moves to a supply position PH at the relay location A5. As shown in FIG. 29, if the amount of materials falls below the threshold at point P10, the tractor 101a temporarily stops work using the working device 2 at point P10, automatically moves to the nearest supply position PH from its current position, and stops at supply position PH. Here, when the tractor 101a reaches supply position PH to replenish materials, the alarm device 44 mounted on the tractor 101a issues an alarm urging the tractor to replace the first package 6A. That is, when the communication device 45A of the tractor 101a is connected to the management device 100 and receives from the management device 100 a notification that the first package 6A will be delivered, or when the field map displayed on the display device 50 indicates that the first package 6A will be placed at the relay point A5, the notification device 44 determines that the first package 6A will be delivered to the relay point A5 and issues a notification urging the tractor to replace the first package 6A. The notification device 44 may be a device that generates voice or sound, or a device that displays text, etc. In the above-described embodiment, the tractor 101a moves to the relay point A5 when the amount of material falls below a threshold. However, when the remaining amount of the attached package 6 falls below a threshold, the tractor 101a may travel toward the delivered package 6 within the field (relay point A5) or around the field.

[0113] In the above-described embodiment, when the first package 6A is delivered to the field H1, the first package 6A is transported by the transport vehicle T. However, in addition to this, the transport vehicle T may transport not only the first package 6A but also materials to the field H1. FIG. 30 shows how the first package 6A and materials are delivered to the field H1. As shown in FIG. 30, the transport vehicle T carrying the first package 6A stops at a storage location H2 such as a barn, loads the materials at the storage location H2, and then moves from the storage location H2 to the field H1. When the transport vehicle T arrives at the field H1, as shown in FIG. 32, the transport vehicle T moves to a relay location A5 and waits. The movement of the transport vehicle T may be automatic or manual.

[0114] FIG. 31 shows the operation of the transporter T loaded with the first package 6A and materials. As shown in FIG. 31, the transporter T arrives at the relay point A5 and stops there (S40). The transporter T connects to the management device 100 or the tractor 101a via the communication device 45B and inquires whether a supply position PH has been set in the field H1 where the transporter T is located (S41). If a supply position PH has been set in the field H1 (S41, Yes), a message appears on the screen of the transporter T instructing the transporter T to place the materials at the supply position PH and to deliver the first package 6A to the relay point (S42). If a supply position PH has not been set in the field H1 (S41, No), the transporter T is set to delivery mode (S43). The transporter T also notifies the tractor 101a via the communication device 45B that it has switched to delivery mode (S44). When the tractor 101a starts farm work, the measurement sensor 43k monitors the materials (S45). If the amount of materials falls below a threshold (S46, Yes), the tractor 101a stops (S47) and notifies the tractor 101a that the materials are running low or that the materials need to be moved to the tractor 101a (S48). When the transporter T is notified that the materials are running low or that the materials need to be moved to the tractor 101a, the transporter T automatically moves toward the tractor 101a (S49), as shown in FIG. 32. Note that if the transporter T is manually driven, a notification that the materials are running low or that the materials need to be moved to the tractor 101a may be sent to a terminal (agricultural terminal, driver terminal 120C) owned by the driver of the transporter, and the driver may drive the transporter T toward the tractor 101a. When the transporter T reaches the tractor 101a, a notification is sent to the transporter T or the tractor 101a to replenish the materials and replace the package body 6 (S50). For example, a message is displayed on the screen of the transporter T or the display device 50 to urge the transporter T to replenish the materials and replace the package body 6.

[0115] <Farm work (harvesting)> In the above-described embodiment, the relay point is a place where materials such as fertilizer, pesticides, seedlings, seeds, etc. are supplied and where the packages 6 are stored when they are delivered and collected, but instead, the relay point may be a place where a transport vehicle that receives harvested products temporarily waits and where the packages 6 are stored when they are delivered and collected. In this case, the supply position PH becomes a waiting position for the transport vehicle that receives the harvested products, so by replacing the above-described supply position with the waiting position, the waiting position can be set by the management device 100, the agricultural terminal, etc.

[0116] In the following, the explanation will be given assuming that the relay point is a place where the transport vehicle waits. Note that the setting of the relay point, the display of messages when delivering and collecting the package body 6, the setting of the waiting position, etc. are the same as those explained above, and therefore will not be explained here.

[0117] The management device 100 can create a relay location where a transport vehicle is waiting to receive the harvested product harvested by the work implement 2 of the tractor 101a, and can guide the user to place the first package body 6A at the relay location.

[0118] When the tractor 101a performs harvesting work, if the display device 50 stores a field map including the standby position PH and the relay location A5, the field map is displayed on the display device 50, and the current vehicle position is also displayed on the field map. If the display device 50 does not store a field map including the standby position PH and the relay location A5, the communication device 45A transmits the current vehicle position to the management device 100. The management device 100 searches for the field H1 from the vehicle position, and if the management device 100 stores a field map in which the standby position PH and the relay location A5 are set for the searched field H1, the management device 100 transmits the field map to the communication device 45A of the tractor 101a, and the display device 50 displays the field map including the standby position PH and the relay location A5 transmitted from the management device 100.

[0119] The tractor 101a has a measurement sensor 43l that detects the amount of harvested crop. The measurement sensor 43l monitors the amount of harvested crop while the working device 2 is operating. During automatic operation, if the amount of harvested crop exceeds a threshold, the control device 60 automatically moves the tractor 101a to a standby position PH at the relay point A5. When the amount of harvested crop exceeds the threshold, the tractor 101a temporarily stops work using the working device 2, automatically moves to the nearest standby position PH from its current position, and stops at the standby position PH. Here, when the tractor 101a reaches the temporary standby position PH of the transporter, the alarm device 44 mounted on the tractor 101a issues an alarm urging the tractor 101a to replace the first package 6A. That is, when the communication device 45A of the tractor 101a is connected to the management device 100 and receives from the management device 100 information that the first package body 6A will be delivered, or when the field map displayed on the display device 50 indicates that the first package body 6A will be placed at the relay location A5, the alarm device 44 determines that the first package body 6A will be delivered to the relay location A5 and issues an alarm urging the replacement of the first package body 6A.

[0120] In the above-described embodiment, when the first package 6A is delivered to the field H1, the first package 6A is transported by the transport vehicle T. However, in addition to this, the transport vehicle T may also load not only the first package 6A but also harvested produce at the field H1. FIG. 33 shows the transport of the first package 6A and a container containing no harvested produce to the field H1. As shown in FIG. 33, the transport vehicle T carrying the first package 6A stops at a storage location H2 such as a barn, loads the container, and then moves from the storage location H2 to the field H1. When the transport vehicle T arrives at the field H1, it moves to a relay location A5 and waits. The transport vehicle T may be driven automatically or manually.

[0121] FIG. 34 shows the operation of the transport vehicle T when placing the first package 6A and the harvested product into the container. As shown in FIG. 34, the transport vehicle T arrives at the relay point A5 and stops there (S60). The transport vehicle T connects to the management device 100 or the tractor 101a via the communication device 45B and inquires whether a waiting position PH has been set in the field H1 where the transport vehicle T is located (S61). If a waiting position PH has been set in the field H1 (S61, Yes), the screen of the transport vehicle T displays a message informing the transport vehicle T to wait near the supply position PH and to deliver the first package 6A to the relay point (S62). If a waiting position PH has not been set in the field H1 (S61, No), the transport vehicle T is set to delivery mode (S63). The transport vehicle T also notifies the tractor 101a via the communication device 45B that it has switched to delivery mode (S64). When the tractor 101a starts farm work, the measurement sensor 43l monitors the amount of harvested product by the tractor 101a (S65). If the amount of harvested product exceeds a threshold (S66, Yes), the tractor 101a stops (S67) and notifies the transporter T that the container for storing the harvested product is full (S68). When the transporter T is notified that the container for storing the harvested product is full, the transporter T automatically moves toward the tractor 101a (S69), as in FIG. 32. Note that if the transporter T is manually driven, a notification that the container for storing the harvested product is full may be sent to a terminal (agricultural terminal, driver terminal 120C) owned by the driver who drives the transporter, and the driver may drive the transporter T toward the tractor 101a. When the transport vehicle T reaches the tractor 101a, a notification is sent to the transport vehicle T or the tractor 101a to urge the transport vehicle T to unload the harvested products (transfer the harvested products harvested by the tractor 101a to the transport vehicle T) and to replace the package body 6 (S70). For example, a message is displayed on the screen of the transport vehicle T or on the display device 50 to urge the transport vehicle T to unload the harvested products and replace the package body 6.

[0122] <Summary> The energy support system for an agricultural machine (tractor 101a) has a detachable package 6 filled with energy and is driven by the energy stored in the package 6. The system includes a management device 100 that calculates the energy consumed by the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs agricultural work, and calculates the number of packages 6 required to cover the consumed energy based on the consumed energy. This makes it possible to grasp the number of packages 6 required when the agricultural machine (tractor 101a) performs agricultural work. In other words, the energy required to perform agricultural work in the field H1 can be secured by the packages 6, allowing agricultural work in the field H1 to continue smoothly.

[0123] The management device 100 transmits the number of packages 6 and field information regarding the field H1 to which the packages 6 are to be delivered to either the transport vehicle T that transports the packages 6, the terminal 120C of the driver who drives the transport vehicle T, or the terminal 120D of the delivery center H3 that delivers the packages 6. This makes it possible to easily deliver the packages 6 needed for farm work to the field H1.

[0124] The management device 100 calculates the energy consumption of the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs the agricultural work based on the content of the agricultural work to be performed in the field H1. This makes it possible to easily determine the number of packages 6 corresponding to the load of the agricultural work.

[0125] The management device 100 calculates, for each of the multiple fields H1, the energy consumption that the agricultural machine (tractor 101a) will consume when performing the agricultural work, based on the content of the agricultural work in each of the multiple fields H1, and calculates the number of packages 6 for each of the multiple fields H1 based on the calculated energy consumption for each of the multiple fields H1. This makes it possible to prevent the agricultural work from being interrupted midway due to the energy depletion of the packages 6, even when the agricultural machine (tractor 101a) performs agricultural work in the multiple fields H1 in turn.

[0126] The management device 100 searches for fields H1 among a plurality of fields H1 where agricultural work will be performed during a predetermined period, and extracts the fields H1 extracted by the search and the number of packages 6 to be used in the extracted fields H1. This makes it possible to easily prepare the packages 6 required for agricultural work during a predetermined period (for example, one day), and to smoothly carry out agricultural work during the predetermined period.

[0127] The management device 100 transmits the packages 6 for each of the searched fields H1 and information about each field H1 to either the transport vehicle T that transports the packages 6, the terminal 120C of the driver who drives the transport vehicle T, or the terminal 120D of the delivery center H3 that delivers the packages 6. This makes it possible to easily deliver to the field H1 the packages 6 required for farm work over a predetermined period (for example, one day).

[0128] The management device 100 issues delivery instructions for the package 6 to any one of the transport vehicle T that transports the package 6, the terminal 120C of the driver that drives the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the package 6. This allows the worker delivering the package 6 to easily grasp the information for delivering the package 6 to the field H1 by looking at the transport vehicle T and the terminals 120C and 120D.

[0129] When the energy of the package 6 attached to the agricultural machine (tractor 101a) falls below a threshold, the agricultural machine (tractor 101a) travels toward the package 6 delivered within the field H1 or in the vicinity of the field H1. This makes it easier for the agricultural machine (tractor 101a) to reach the field H1 or in the vicinity of the field H1 where a new package 6 is placed before the energy of the package 6 attached to the agricultural machine (tractor 101a) runs out, and allows the package 6 to be easily replaced within the field H1 or in the vicinity of the field H1.

[0130] The management device 100 issues an instruction to collect the package 6 to any of the transport vehicle T that transports the package 6, the terminal 120C of the driver that drives the transport vehicle T, and the terminal 120D of the delivery center H3 that delivers the package 6. This makes it possible to easily collect the package 6 that has been removed from the agricultural machine (tractor 101a) and placed in a predetermined location for replacement.

[0131] This is an energy support method for an agricultural machine (tractor 101a) to which a package 6 filled with energy is detachably attached. Before the agricultural machine (tractor 101a) performs agricultural work in a field H1, the method calculates the energy consumption of the agricultural machine (tractor 101a) when the agricultural machine (tractor 101a) performs the agricultural work, and calculates the number of packages 6 required to cover the consumed energy based on the consumed energy. This makes it possible to determine the number of packages 6 required when the agricultural machine (tractor 101a) performs agricultural work. In other words, the energy required to perform agricultural work in the field H1 can be secured by the packages 6, allowing agricultural work in the field H1 to be continued smoothly.

[0132] The energy support system for an agricultural machine (tractor 101a) has a detachable package 6 filled with energy and is driven by the energy stored in the package 6. The system includes a management device 100 that acquires either a work plan for agricultural work to be performed in a field H1 by the agricultural machine (tractor 101a) or a request from the agricultural machine (tractor 101a), and issues a command to deliver the package 6 to the field H1 according to a delivery plan or request set based on the work plan to either a transport vehicle T, a terminal 120C of the driver driving the transport vehicle T, or a terminal 120D of a delivery center H3 that delivers the package 6. This allows the parties involved in delivering the package 6, i.e., the driver driving the transport vehicle, the manager and workers managing the package 6 at the delivery center H3, to understand that the package 6 should be delivered to the field H1 according to the work plan for agricultural work, and that the package 6 should be delivered to the field H1 according to a request from the agricultural machine (tractor 101a). That is, the package 6 required for agricultural work can be smoothly delivered to the field H1 according to the work plan or the agricultural machine (tractor 101a). That is, the package 6 can be delivered when the agricultural work is to be performed and to the place (field) where the agricultural work is to be performed.

[0133] The management device 100 acquires either a work plan for the agricultural machine (tractor 101a) to perform farm work in the field H1 or a request from the agricultural machine (tractor 101a), and issues a command to collect the package 6 to either the transport vehicle T, the terminal 120C of the driver driving the transport vehicle T, or the terminal 120D of the distribution center H3 that delivers the package 6, according to a collection plan or request set based on the work plan. This allows the parties involved in collecting the package 6, i.e., the driver driving the transport vehicle, the manager and workers managing the package 6 at the distribution center H3, to understand that they are collecting the package 6 in accordance with the work plan for farm work, or in response to a request from the agricultural machine (tractor 101a). In other words, the package 6 can be collected smoothly according to the work plan or the agricultural machine (tractor 101a).

[0134] The agricultural machine (tractor 101a) is equipped with an operation switch 130 for requesting at least delivery of the package 6 or collection of the package 6. This allows the driver operating the agricultural machine (tractor 101a) or the farmworker performing farm work to easily request delivery or collection of the package 6 by simply operating the operation switch 130 as needed.

[0135] The agricultural machine (tractor 101a) is equipped with a communication device 45A that, when the energy of the package 6 attached to the agricultural machine (tractor 101a) falls below a threshold, makes at least one of a request for delivery of the package 6 and a request for collection of the package 6. This makes it possible to easily and automatically request delivery or collection of the package 6 when the energy of the package 6 attached to the agricultural machine (tractor 101a) falls below a threshold.

[0136] When the transport vehicle T receives a command to deliver the package body 6, it moves by automatic driving toward the field H1. This allows the package body 6 to be brought into the field H1 without the need to manually drive the transport vehicle T.

[0137] When the transport vehicle T receives a command to collect the package body 6, it moves by automatic driving toward the field H1. This allows the transport vehicle T to reach the field H1 to collect the package body 6 without having to manually drive the transport vehicle T.

[0138] The management device 100 calculates the deterioration of the packages 6 from the delivery history of the multiple packages 6 stored at the delivery source, and selects the packages 6 to be delivered from the multiple packages 6 based on the calculated deterioration of the packages 6. This makes it possible to prevent the multiple packages 6 stored at the delivery source from deteriorating excessively in a short period of time.

[0139] The management device 100 determines the delivery fee based on the size of the package 6 to be delivered. This makes it possible to determine a delivery fee that is commensurate with the amount of energy, even if there are many packages 6 of different sizes.

[0140] The energy support system for an agricultural machine (tractor 101a) is capable of attaching and detaching a package 6 filled with energy and is driven by the energy stored in the package 6. The system includes a management device 100 that guides the delivery of a package 6, different from the package 6 attached to the agricultural machine (tractor 101a), to a relay point that the agricultural machine passes through during the agricultural work so that the agricultural machine (tractor 101a) can continue agricultural work in a field H1. This allows the package 6 to be delivered to a point that the agricultural machine (tractor 101a) passes through during the agricultural work. This allows the work of replacing the package 6 after the agricultural work to be carried out smoothly. In other words, because the package 6 is delivered to a relay point that the agricultural machine (tractor 101a) passes through during the agricultural work, energy can be quickly replenished to the agricultural machine (tractor 101a), improving the efficiency of agricultural work.

[0141] The management device 100 creates a relay point where materials to be supplied to the agricultural machine (tractor 101a) are placed, and guides the agricultural machine to place another package 6 at the relay point. This allows the supply of materials and the replacement of the package 6 to be performed simultaneously.

[0142] When the amount of materials loaded on the agricultural machine (tractor 101a) during farm work falls below a threshold, the agricultural machine (tractor 101a) moves toward a relay point. This allows the package 6 to be replaced in time with the materials being replenished at the relay point.

[0143] When the amount of materials loaded on the agricultural machine (tractor 101a) during agricultural work falls below a threshold, a transport vehicle T carrying the materials at the relay location and another package 6 is moved from the relay location toward the agricultural machine (tractor 101a). In this way, when it is time to replenish the agricultural machine (tractor 101a) with materials, not only the materials but also the package 6 can be quickly brought close to the agricultural machine (tractor 101a), and this can be done at the location where the agricultural machine (tractor 101a) is located, simultaneously with the replenishment of materials.

[0144] When the transporter T reaches the agricultural machine (tractor 101a), a notification is sent to the transporter T or the agricultural machine (tractor 101a) to prompt the replacement of the package body 6. This allows the driver of the transporter T or the agricultural machine (tractor 101a) to be easily notified that the package body 6 can be replaced.

[0145] The management device 100 creates a relay point where a transport vehicle T is waiting to receive the harvested product harvested by the agricultural machine (tractor 101a), and guides the user to place another package 6 at the relay point. This allows the package 6 to be replaced in accordance with the timing when the harvested product is transferred to the transport vehicle T at the relay point.

[0146] When the amount of harvested produce by the agricultural machine (tractor 101a) during farm work exceeds a threshold, the agricultural machine (tractor 101a) moves toward a relay point. This allows the package 6 to be replaced in time with the harvested produce being transferred to another transport vehicle or the like at the relay point.

[0147] When the amount of harvested produce by the agricultural machine (tractor 101a) during agricultural work is equal to or greater than a threshold value and the transporter T is equipped with another battery, the transporter T is moved from the relay location toward the agricultural machine (tractor 101a). In this way, when the agricultural machine (tractor 101a) unloads the harvested produce, not only the harvested produce but also the package body 6 can be quickly brought close to the agricultural machine (tractor 101a), and this can be done at the same time as the unloading of the harvested produce at the location where the agricultural machine (tractor 101a) is located.

[0148] The agricultural machine (tractor 101a) comprises a vehicle body 2 to which a package body 6 filled with energy can be attached and detached, a prime mover 4 that is driven by the energy stored in the package body 6, and a working implement 3, and when it is necessary to replenish materials to the working implement 3 or when it is necessary to discharge the harvested crop by the working implement 3, the vehicle body 2 moves to a relay point A5 where a package body 6 different from the package body 6 attached to the agricultural machine (tractor 101a) is placed. This allows the package body 6 to be replaced at the relay point A5 when it is time to replenish materials to the working implement 3 or when it is time to discharge the harvested crop by the working implement 3.

[0149] In the first embodiment, the number of package bodies 6 mounted on the tractor 101a is not limited. For example, the tractor 101a may be equipped with a plurality of package bodies 6, at least one of which may be replaceable, while the other package bodies 6 may be fixed and not replaceable. Alternatively, the tractor 101a may be equipped with a plurality of package bodies 6, and all of the plurality of package bodies 6 may be replaceable.

[0150] [Second embodiment] Fig. 35 is an overall view showing an energy support system for an agricultural machine in the second embodiment. The agricultural machine 101 in the second embodiment is also an implement such as a tractor, a combine harvester, or a rice transplanter. In the second embodiment, a description of the same configuration as in the first embodiment will be omitted. Also, in the second embodiment, a tractor will be taken as an example and the description will proceed assuming that the package is a battery.

[0151] As shown in FIG. 35, a plurality of package bodies 6 are mounted on the tractor 101a. At least one of the plurality of package bodies 6 is replaceable. As shown in FIG. 36, the plurality of package bodies 6 are connected to a regulator 160. The regulator 160 is configured to switch between a discharge mode and a regeneration mode based on a control signal from the control device 60. In the discharge mode, the regulator 160 receives power from the plurality of package bodies 6. The regulator 160 adjusts the proportion of power received by each of the plurality of package bodies 6 based on the control signal from the control device 60. The power received by the regulator 160 is sent to the prime mover 4 (electric motor).

[0152] The agricultural machinery energy support system of the second embodiment is a system in which, when the amount of energy in the package 6 mounted on each of the tractors 101a is equal to or greater than a threshold, the package 6 with the energy equal to or greater than the threshold is passed between the tractors 101a. For ease of explanation, the explanation will proceed assuming that there are two tractors 101a, and the first tractor will be referred to as the first tractor 101a1 and the second tractor will be referred to as the second tractor 101a2.

[0153] Figure 37 shows a state in which the first tractor 101a1 and the second tractor 101a2 have worked in a field H1. As shown in Figure 37, the first tractor 101a1 is continuing agricultural work in, for example, field A, while the second tractor 101a2 has finished agricultural work in field B. If the agricultural work for the day has finished, the second tractor 101a2 is scheduled to return to the storage location H2. If the agricultural work for the day has not finished, the second tractor 101a2 will move to another field H1 (for example, field C).

[0154] When the second tractor 101a2 is scheduled to return to the storage location H2, if the energy of the multiple packages 6 loaded on the second tractor 101a2 is sufficient for returning to the storage location H2, the second tractor 101a2 will, for example, distribute to the first tractor 101a1, another tractor 101a, at least one package (referred to as a filled package) 6 whose energy is equal to or greater than a threshold value, among the multiple packages 6. On the way back to the storage location H2 from the field B, the second tractor 101a2 heads toward the relay point A5 in the field A where the first tractor 101a1 is performing farm work or the periphery of the field A, and stops at the relay point A5 in the field A or the periphery of the field A. A worker working in field A or a worker riding on the second tractor 101a2 places the filled package 6 on the second tractor 101a2 at a relay point A5 within field A or in the vicinity of field A. When the work of placing the filled package 6 at the relay point A5 within field A or in the vicinity of field A is completed, the second tractor 101a2 moves toward the storage location H2.

[0155] FIG. 38 shows the operation of the second tractor 101a2 handing over the filled package 6 to the first tractor 101a1. As shown in FIG. 38, after work in field B is completed, the control device 60 or display device 50 of the second tractor 101a2 determines whether work for a predetermined period (e.g., one day) has been completed (S80). Specifically, the control device 60 or display device 50 extracts a work plan by connecting to the management device 100 via the communication device 45A or by referring to a storage device such as the non-volatile memory of the display device 50. After extracting the work plan, the control device 60 or display device 50 refers to the work results (e.g., vehicle position) from the start of the work to the present, and if the work results indicate that the work has been completed in all of the fields specified in the work plan, determines that the work has been completed (S80, Yes). For example, if the work plan indicates that agricultural work will be carried out in fields B and C, and the agricultural work performance (vehicle position) of the second tractor 101a2 indicates that work is being carried out while moving within fields B and C, the control device 60 or display device 50 of the second tractor 101a2 will determine that work for a specified period (one day) has been completed.

[0156] On the other hand, if the agricultural work results do not indicate that agricultural work has been performed in all of the fields indicated in the work plan for the specified period, the control device 60 or the display device 50 determines that the work for the specified period has not been completed (S80, No). Note that, in the above-described embodiment, the vehicle body position is used as an example of agricultural work results, but agricultural work results are not limited to vehicle body position, and any results that can be used to determine whether agricultural work has been performed on a field H1 basis are acceptable.

[0157] If the control device 60 of the second tractor 101a2 determines that the work for the predetermined period has not been completed (S80, No), it controls the traveling to move from the current field to the field H1 where the next agricultural work will be performed by automatic driving (S81). For example, as shown in Fig. 37, after the work in field B is completed, the control device 60 of the second tractor 101a2 automatically drives the tractor to leave field B onto a farm road (road), head toward field C, and enter field C.

[0158] When the work for the predetermined period is completed (S80, Yes), the control device 60 of the second tractor 101a2 determines whether or not there are any packages (referred to as filled packages) whose energy is equal to or greater than a threshold value (S82). As shown in Fig. 39, the control device 60 of the second tractor 101a2 measures the energy of the multiple packages 6 with the measurement sensor 43j, and extracts, from the multiple packages 6, packages 6 whose energy is equal to or greater than a threshold value (for example, 80% or more) as filled packages.

[0159] If a filled package 6 is present (S82, Yes), the control device 50 of the second tractor 101a2 transmits a signal (yield signal) to the other agricultural machine 101 (vehicle body 3) via the communication device 45A to inform the other agricultural machine 101 (vehicle body 3) that the package 6 can be handed over (S83). For example, the second tractor 101a2 transmits a signal to the first tractor 101a1 to inform the other agricultural machine 101 that the package 6 can be handed over (S84). When the first tractor 101a1 (control device 60) receives the package 6 yield signal (S84), the control device 60 of the first tractor 101a1 measures the energy of the multiple packages 6 with the measurement sensor 43j and determines whether or not there are any packages 6 whose energy is below a threshold (for example, below 20%) (referred to as depleted packages) 6 (S85).

[0160] If there is a depleted package body 6 (S85, Yes), the first tractor 101a1 (control device 60) sends a request (request signal) to the second tractor 101a2 that has sent the yield signal, requesting that the package body 6 be brought, including the current vehicle position of the first tractor 101a1 (S86).

[0161] When receiving a request (request signal) to bring a package 6, the control device 60 of the second tractor 101a2 creates a planned driving route from the current vehicle position to field A where the first tractor 101a1 is located (S87), and moves toward field A by automatic driving (S88). The control device 60 of the first tractor 101a2 stops at relay point A5 in field A or near field A (S89). As shown in FIG. 40, the display device 50 of the second tractor 101a2 displays information indicating which of the multiple packages 6 are filled packages 6 (packages 6 that may be handed over to the first tractor 101a1) (S90). Note that information indicating which of the multiple packages 6 are filled packages 6 (packages 6 that may be handed over to the first tractor 101a1) may also be displayed on the agricultural terminal.

[0162] When the filled package body 6 is placed at the relay point A5 within the field A or around the field A, that is, when information indicating that the filled package 6 has been placed is entered into the display device 50 of the second tractor 101a2 (the complete button in Figure 40 is selected) (S91, Yes), the control device 60 of the second tractor 101a2 controls the tractor to travel from its current position to the storage location H2 (S92).

[0163] As shown in FIG. 39, when there are multiple filled package bodies 6 in the second tractor 101a2, the control device 60 selects a filled package body 6 from the multiple filled package bodies that can be handed over to the first tractor 101a1.

[0164] The total amount of energy of the other package bodies 6, excluding the filled package body 6, is calculated from among the multiple package bodies 6, and the total amount of energy is used to calculate whether the second tractor 101a2 can return from the field A to the storage location H2.If return is possible, all filled package bodies 6 of the second tractor 101a2 are selected as filled package bodies 6 that can be handed over to the first tractor 101a1.

[0165] On the other hand, if the total amount of energy of the other packages 6 excluding the filled package 6 is not enough for the second tractor 101a2 to return from the field A to the storage location H2, the control device 60 selects at least one of the multiple filled packages 6 as the package for return. Then, the control device 60 calculates the total amount of energy of the package for return and the other packages 6, and if the total amount of energy is enough for the tractor 101a2 to return from the field A to the storage location H2, selects one of the multiple filled packages 6 excluding the package 6 for return as the filled package 6 that can be handed over to the first tractor 101a1. Information about the selected filled package 6 is displayed on the display device 50, as described above.

[0166] FIG. 41 shows a state in which a first tractor 101a1 and a second tractor 101a2 are traveling on a road (farm road). As shown in FIG. 41, each of the first tractor 101a1 and the second tractor 101a2 is controlled by a control device 60 and moves by automatic driving. For example, during automatic driving, the control device 60 of the first tractor 101a1 determines whether a depleted package 6 is present. If a depleted package 6 is present, the communication device 45A of the first tractor 101a1 transmits a request signal to the second tractor 101a2. Meanwhile, during automatic driving, when the communication device 45A of the second tractor 101a2 receives the request signal, the control device 60 of the second tractor 101a2 determines whether a full package 6 is present. If a full package 6 is present, the communication device 45A of the second tractor 101a2 transmits a yield signal to the first tractor 101a1. When the first tractor 101a1 receives the yield signal, the first tractor 101a1 and the second tractor 101a2 communicate with each other via the communication device 45A and transmit their vehicle positions to each other. The control devices 60 of the first tractor 101a1 and the second tractor 101a2 calculate the distance between them based on their vehicle positions, and when the distance between the first tractor 101a1 and the second tractor 101a2 falls below a threshold (several meters), the tractors stop in area A30, for example. That is, the control device 60 of the first tractor 101a1 stops automatic driving in area A30, and the control device 60 of the second tractor 101a2 also stops automatic driving. In area A30, the charging package 6 of the second tractor 101a2 is replaced with the depleted battery 6 of the first tractor 101a1.

[0167] The communication between the communication device 45A of the first tractor 101a1 and the communication device 45A of the second tractor 101a2 may be direct or indirect communication. In other words, the transmission and reception of the yield signal and the request signal may be performed directly by the communication device 45A, or may be performed via a mobile phone communication network such as a base station, satellite communication, or the like.

[0168] <Summary> The agricultural machine (tractor 101a) comprises a prime mover 4, a plurality of package bodies 6 filled with energy for driving at least either the work implement 3 or the prime mover 4, a vehicle body 3 on which at least the plurality of package bodies 6 are mounted, and a control device 60 for controlling the travel of the vehicle body 3, and when there is at least one package body 6 among the plurality of package bodies 6 whose energy is above a threshold value, the control device 60 controls the travel of the vehicle body 3 to move toward the other vehicle bodies 3.

[0169] The agricultural machine (tractor 101a) comprises a prime mover 4, a plurality of package bodies 6 filled with energy for driving at least either the working implement 3 or the prime mover 4, a vehicle body 3 carrying at least the plurality of package bodies 6, and a communication device 45A, and when there is at least one package body 6 whose energy is above a threshold, the communication device 45A transmits a signal indicating that the package body 6 can be passed on to another vehicle body 3.

[0170] This allows a package 6 whose energy is equal to or greater than a threshold value to be handed over to another vehicle 3. That is, the other vehicle 3 can charge energy without moving to a predetermined package 3 exchange location or charging location.

[0171] The agricultural machine (tractor 101a) is equipped with a communication device 45A that, when there is at least one package 6 whose energy is equal to or greater than the threshold, transmits a signal indicating that the package 6 can be handed over to another vehicle 3. This allows the other vehicle 3 to easily understand that the package 6 whose energy is equal to or greater than the threshold can be handed over.

[0172] When the communication device 45 of the agricultural machine (tractor 101a) receives a request from another vehicle body 3 to bring the package body 6, the control device 60 controls the traveling of the agricultural machine (tractor 101a) toward the other vehicle body 3. This allows the other vehicle 3 to take over the package body 6 from the agricultural machine (tractor 101a) simply by making a request.

[0173] The control device 60 extracts filled packages 6 from the plurality of packages 6, which are packages 6 with energy equal to or greater than a threshold value, and if there are multiple extracted filled packages 6, selects from the plurality of filled packages 6 a filled package 6 that can be passed on to another vehicle 3. In this way, only the selected filled package 6 from the plurality of filled packages 6 can be passed on to the other vehicle 3.

[0174] The control device 60 stops the vehicle body 3 when the distance between the vehicle body 3 and another vehicle body 3 becomes equal to or less than the threshold value. This allows the agricultural machine (tractor 101a) equipped with the package body 6 that has energy equal to or greater than the threshold value and can be handed over to another vehicle 3 to be stopped at a position close to the other vehicle body 3, making it easy to exchange the package body 6 in the vicinity of the stopping position.

[0175] The embodiments disclosed herein should be considered to be illustrative in all respects and not restrictive. The scope of the present invention is defined by the claims, not by the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0176] 1: Tractor 2: Work equipment 3: Running vehicle (vehicle) 4: Prime mover 5: Transmission 5a: Propulsion shaft 5b: Main transmission section 5c: Sub-transmission section 5d: Shuttle section 5e: PTO power transmission section 5f: Front gear shift section 6: Package body 6A: First package body 6B: Second package body 6a1: Holder 6b1: Grip part 7: Running gear 7F: Front wheel 7R: Rear wheel 8: Lifting device 8a: Lift arm 8b: Lower Link 8c: Top link 8d: Lift rod 8e: Lift cylinder 9: Cabin 10: Driver's seat 12: Shuttle axis 13: Forward / forward switching section 14:PTO propulsion shaft 15: PTO clutch 16: PTO shaft 17: First clutch 18: Second clutch 19: Mounting part 19a: Storage section 19b:Aperture 19c: Lid part 20F: Front wheel differential 20R: Rear wheel differential 21F: Front axle 21R: Rear axle 22: Front transmission shaft 25: First operating valve 26: Second operating valve 27: Control valve 29: Steering gear 30: Handle 31: Steering shaft 32: Auxiliary mechanism 33: Hydraulic pump 34: Control valve 35: Steering cylinder 40A: Positioning device 41: Receiving device 42: Inertial Measurement Unit 43a: Shuttle lever 43b: Ignition switch 43c: PTO switch 43d: PTO shift lever 43e: Gear change switch 43f: Gear shift lever 43g: Accelerator lever 43h: Hydraulic lever 43i: Operation switch 43j: Measurement sensor 43k: Measurement sensor 43l: Measurement sensor 44: Alarm device 45A:Communication equipment 45B:Communication equipment 50:Display device 55:Register button 60: Control device 80: Field input section 81: Field display section 82: Turning width input section 83: Rotation setting button 85: Route display section 86: Width input section 95: Pointer section 100: Management device 101: Agricultural machinery 101a: Tractor 101b: Implement 110: Work Creation Department 111: Working memory section 120: External terminal 120A: Administrator terminal 120B: Worker terminal 120C: Driver terminal 120D: Center terminal 130: Operation switch 131: Work setting section 132: Date setting section 133: Field setting section 134: Time setting section 135: Worker setting section 136: Machine setting section 137:Spray material setting section 138: Spreading amount setting section 139:Register button 140: Period input section 141: Information display section A1: Turning area A2:Work area A3: Unit work area A5: Relay location G1: Edge G2: Edge G3: Edge G4: Edge Gi: Side H1: Field H10: Contour H11: Contour H2: Storage location H3: Distribution center (distribution base) J1: Area J2: Area J3: Area J4: Area Ji :Area K1: Driving trajectory K2: Contour K3: Contour L1: Planned route L1a: Straight route L1b: Circling route M1: Screen M10: Screen M11: Screen M12: Screen M15: Screen M30: Screen (terminal screen) M31: Screen MP1: Map MP2: Field Map N1: In-vehicle communication network P10: Point PH: Supply position (standby position) VP1: Vehicle position W1: Turning width W2: Working width W3: Overlap width

Claims

1. An energy support system for an agricultural machine, which is capable of attaching and detaching a package body charged with energy and is driven by the energy stored in the package body, An energy support system for agricultural machinery, comprising a management device that acquires a work plan for agricultural work that the agricultural machinery will perform in the field, and issues a command to deliver the package body to the field according to a delivery plan set based on the work plan to either a transport vehicle, a terminal of the driver driving the transport vehicle, or a terminal at a delivery center that delivers the package body.

2. 2. The energy support system for agricultural machinery according to claim 1, wherein the management device acquires a work plan for agricultural work to be performed in a field by the agricultural machinery, and issues a command to collect the package body to one of a transport vehicle, a terminal of a driver driving the transport vehicle, and a terminal of a distribution center that delivers the package body, in accordance with a collection plan set based on the work plan.

3. 3. The energy support system for agricultural machinery according to claim 1, wherein the transport vehicle moves toward the field by automatic driving when a command to deliver the package body is received.

4. 3. The energy support system for agricultural machinery according to claim 1, wherein the transporter moves toward the field by automatic driving when a command to collect the package body is received.

5. 3. The energy support system for agricultural machinery according to claim 1 or 2, wherein the management device calculates deterioration of a plurality of packages stored at the delivery source from the delivery history of the plurality of packages, and selects a package to be delivered from the plurality of packages based on the calculated deterioration of the package.

6. 3. The energy support system for an agricultural machine according to claim 1, wherein the management device determines a delivery fee based on the size of the package to be delivered.

Images